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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

Projekt

<a href="/cs/project/GJ17-15697Y" target="_blank" >GJ17-15697Y: Automatická kalibrace robotů a bezpečná fyzická interakce s člověkem inspirovaná reprezentacemi těla v mozku primátů</a><br>

Návaznosti

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

Rok uplatnění

2018

Kód důvěrnosti údajů

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

Název statě ve sborníku

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

ISBN

978-1-4503-4953-6

ISSN

—

e-ISSN

2167-2148

Počet stran výsledku

9

Strana od-do

416-424

Název nakladatele

IEEE Computer Society

Místo vydání

USA

Místo konání akce

Chicago

Datum konání akce

5. 3. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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