Compact Real-time Avoidance on a Humanoid Robot for Human-robot Interaction

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00327463" target="_blank" >RIV/68407700:21230/18:00327463 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.1145/3171221.3171245" target="_blank" >http://dx.doi.org/10.1145/3171221.3171245</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1145/3171221.3171245" target="_blank" >10.1145/3171221.3171245</a>

Result language

angličtina

Original language name

Compact Real-time Avoidance on a Humanoid Robot for Human-robot Interaction

Original language description

With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration from peripersonal space representations in humans, we present a framework on a humanoid robot that dynamically maintains such a protective safety zone, composed of the following main components: (i) a human 2D keypoints estimation pipeline employing a deep learning based algorithm, extended here into 3D using disparity; (ii) a distributed peripersonal space representation around the robot"s body parts; (iii) a reaching controller that incorporates all obstacles entering the robot"s safety zone on the fly into the task. Pilot experiments demonstrate that an effective safety margin between the robot's and the human's body parts is kept. The proposed solution is flexible and versatile since the safety zone around individual robot and human body parts can be selectively modulated---here we demonstrate stronger avoidance of the human head compared to rest of the body. Our system works in real time and is self-contained, with no external sensory equipment and use of onboard cameras only.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

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

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2018

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction

ISBN

978-1-4503-4953-6

ISSN

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e-ISSN

2167-2148

Number of pages

9

Pages from-to

416-424

Publisher name

IEEE Computer Society

Place of publication

USA

Event location

Chicago

Event date

Mar 5, 2018

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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