Toward safe separation distance monitoring from RGB-D sensors in human-robot interaction

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00324771" target="_blank" >RIV/68407700:21230/18:00324771 - isvavai.cz</a>
Result on the web
<a href="http://www.socrates-project.eu/internal-documents/SSR_2018/Proceedings2.pdf" target="_blank" >http://www.socrates-project.eu/internal-documents/SSR_2018/Proceedings2.pdf</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Toward safe separation distance monitoring from RGB-D sensors in human-robot interaction
Original language description
The interaction of humans and robots in less constrained environments gains a lot of attention lately and safety of such interaction is of utmost importance. Two ways of risk assessment are prescribed by recent safety standards: (i) power and force limiting and (ii) speed and separation monitoring. Unlike typical solutions in industry that are restricted to mere safety zone monitoring, we present a framework that realizes separation distance monitoring between a robot and a human operator in a detailed, yet versatile, transparent, and tunable fashion. The separation distance is assessed pair-wise for all keypoints on the robot and the human body and as such can be selectively modified to account for specific conditions. The operation of this framework is illustrated on a Nao humanoid robot interacting with a human partner perceived by a RealSense RGB-D sensor and employing the OpenPose human skeleton estimation algorithm.
Czech name
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Czech description
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Project
<a href="/en/project/GJ17-15697Y" target="_blank" >GJ17-15697Y: Robot self-calibration and safe physical human-robot interaction inspired by body representations in primate brains</a><br>
Continuities
S - Specificky vyzkum na vysokych skolach

Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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