Safe physical HRI: Toward a unified treatment of speed and separation monitoring together with power and force limiting

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00332631" target="_blank" >RIV/68407700:21230/19:00332631 - isvavai.cz</a>

Alternative codes found

RIV/68407700:21730/19:00332631

Result on the web

<a href="https://doi.org/10.1109/IROS40897.2019.8968463" target="_blank" >https://doi.org/10.1109/IROS40897.2019.8968463</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS40897.2019.8968463" target="_blank" >10.1109/IROS40897.2019.8968463</a>

Result language

angličtina

Original language name

Safe physical HRI: Toward a unified treatment of speed and separation monitoring together with power and force limiting

Original language description

So-called collaborative robots are a current trend in industrial robotics. However, they still face many problems in practical application such as reduced speed to ascertain their collaborativeness. The standards prescribe two regimes: (i) speed and separation monitoring and (ii) power and force limiting, where the former requires reliable estimation of distances between the robot and human body parts and the latter imposes constraints on the energy absorbed during collisions prior to robot stopping. Following the standards, we deploy the two collaborative regimes in a single application and study the performance in a mock collaborative task under the individual regimes, including transitions between them. Additionally, we compare the performance under ``safety zone monitoring'' with keypoint pair-wise separation distance assessment relying on an RGB-D sensor and skeleton extraction algorithm to track human body parts in the workspace. Best performance has been achieved in the following setting: robot operates at full speed until a distance threshold between any robot and human body part is crossed; then, reduced robot speed per power and force limiting is triggered. Robot is halted only when the operator's head crosses a predefined distance from selected robot parts. We demonstrate our methodology on a setup combining a KUKA LBR iiwa robot, Intel RealSense RGB-D sensor and OpenPose for human pose estimation.

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

20204 - Robotics and automatic control

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

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

Publication year

2019

Confidentiality

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

Article name in the collection

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISBN

978-1-7281-4004-9

ISSN

2153-0858

e-ISSN

2153-0866

Number of pages

8

Pages from-to

7580-7587

Publisher name

IEEE

Place of publication

Piscataway, NJ

Event location

Macau

Event date

Nov 4, 2019

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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