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Authors: Matteo Melchiorre ; Leonardo Sabatino Scimmi ; Stefano Mauro and Stefano Pastorelli

Affiliation: Department of Mechanical and Aerospace Engineering, Politecnico di Torino, C.so Duca degli Abruzzi 24, Turin and Italy

ISBN: 978-989-758-321-6

Keyword(s): Collaborative Robotics, Human Robot Hand Over, Trajectory Planning, Motion Tracking.

Related Ontology Subjects/Areas/Topics: Human-Robots Interfaces ; Industrial Automation and Robotics ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Real-Time Systems Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Vision, Recognition and Reconstruction

Abstract: The paper analyses a possible cooperative task between a human operator and a robot. Operator and robot are interfaced by Microsoft Kinect® which is used to detect the position of an upper limb of the operator. The robot is driven by a control algorithm designed to track the hand of the human and to obtain a hand-over in the final part of the trajectory. The paper describes the algorithm and shows its performance with different velocities of the limbs by means of tests carried out in a simulation environment.

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Paper citation in several formats:
Melchiorre, M.; Scimmi, L.; Mauro, S. and Pastorelli, S. (2018). Influence of Human Limb Motion Speed in a Collaborative Hand-over Task.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-321-6, pages 349-356. DOI: 10.5220/0006864703590366

@conference{icinco18,
author={Matteo Melchiorre. and Scimmi, L. and Stefano Mauro. and Stefano Pastorelli.},
title={Influence of Human Limb Motion Speed in a Collaborative Hand-over Task},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2018},
pages={349-356},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006864703590366},
isbn={978-989-758-321-6},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Influence of Human Limb Motion Speed in a Collaborative Hand-over Task
SN - 978-989-758-321-6
AU - Melchiorre, M.
AU - Scimmi, L.
AU - Mauro, S.
AU - Pastorelli, S.
PY - 2018
SP - 349
EP - 356
DO - 10.5220/0006864703590366

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