TY - GEN
T1 - Overapproximative arm occupancy prediction for human-robot co-existence built from archetypal movements
AU - Pereira, Aaron
AU - Althoff, Matthias
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - Human motion is fast and hard to predict. To implement a provably safe collision-avoidance strategy for robots in collaborative spaces with humans, an overapproximative prediction of the occupancy of the human is required, which needs to be calculated faster than real time. We present a method for computing volumes containing the entire possible future occupancy of the human, given its state, faster than real time. The dynamic model of the human is built from analysing a set of archetypal movements performed by test subjects. The occupancy prediction is tested on a publicly available database of motion capture data, and shown to be overapproximative for all movements relating to everyday activities, sport and dance. Our novel algorithm is useful to guarantee safety in humanrobot collaboration scenarios.
AB - Human motion is fast and hard to predict. To implement a provably safe collision-avoidance strategy for robots in collaborative spaces with humans, an overapproximative prediction of the occupancy of the human is required, which needs to be calculated faster than real time. We present a method for computing volumes containing the entire possible future occupancy of the human, given its state, faster than real time. The dynamic model of the human is built from analysing a set of archetypal movements performed by test subjects. The occupancy prediction is tested on a publicly available database of motion capture data, and shown to be overapproximative for all movements relating to everyday activities, sport and dance. Our novel algorithm is useful to guarantee safety in humanrobot collaboration scenarios.
UR - http://www.scopus.com/inward/record.url?scp=85006371594&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759228
DO - 10.1109/IROS.2016.7759228
M3 - Conference contribution
AN - SCOPUS:85006371594
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1394
EP - 1401
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -