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- Publisher Website: 10.1109/ICMA.2016.7558716
- Scopus: eid_2-s2.0-84991236465
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Conference Paper: A projection-based making-human-feel-safe system for human-robot cooperation
Title | A projection-based making-human-feel-safe system for human-robot cooperation |
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Authors | |
Keywords | Manipulator Make-human-feel-safe Human-Robot Cooperation |
Issue Date | 2016 |
Citation | 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016, 2016, p. 1101-1106 How to Cite? |
Abstract | When a person is working on a human robot cooperation system, he/she tends to worry about possible collisions with the robot, because of a lack of internal information about the robot. This internal information is, for example, an awareness of a worker's presence or future robot motion. Therefore, this paper proposes a projection-based making-human-feel-safe system that not only ensures the safety of a human worker but also ensures that the worker feels safe when working with a robot by displaying the internal information of the robot using projection technology. To develop this system, we utilized a Kalman filter for predicting a worker's hand position and compensating the delay in the projection. An elastic band framework was implemented to plan a safe path considering the position of the worker. Finally, an evaluation experiment was conducted to prove the effectiveness of the system. |
Persistent Identifier | http://hdl.handle.net/10722/302952 |
DC Field | Value | Language |
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dc.contributor.author | Liu, Diyi | - |
dc.contributor.author | Kinugawa, Jun | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:55Z | - |
dc.date.available | 2021-09-07T08:42:55Z | - |
dc.date.issued | 2016 | - |
dc.identifier.citation | 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016, 2016, p. 1101-1106 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302952 | - |
dc.description.abstract | When a person is working on a human robot cooperation system, he/she tends to worry about possible collisions with the robot, because of a lack of internal information about the robot. This internal information is, for example, an awareness of a worker's presence or future robot motion. Therefore, this paper proposes a projection-based making-human-feel-safe system that not only ensures the safety of a human worker but also ensures that the worker feels safe when working with a robot by displaying the internal information of the robot using projection technology. To develop this system, we utilized a Kalman filter for predicting a worker's hand position and compensating the delay in the projection. An elastic band framework was implemented to plan a safe path considering the position of the worker. Finally, an evaluation experiment was conducted to prove the effectiveness of the system. | - |
dc.language | eng | - |
dc.relation.ispartof | 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 | - |
dc.subject | Manipulator | - |
dc.subject | Make-human-feel-safe | - |
dc.subject | Human-Robot Cooperation | - |
dc.title | A projection-based making-human-feel-safe system for human-robot cooperation | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ICMA.2016.7558716 | - |
dc.identifier.scopus | eid_2-s2.0-84991236465 | - |
dc.identifier.spage | 1101 | - |
dc.identifier.epage | 1106 | - |