Multiple Collision Avoidance between Human Limbs and Robot Links Algorithm in Collaborative Tasks

Leonardo Sabatino Scimmi, Matteo Melchiorre, Stefano Mauro, Stefano Pastorelli

2018

Abstract

In this paper a real-time collision avoidance approach useful for human-robot interaction was presented and tested. This approach is based on a collision avoidance algorithm and a distance calculation algorithm. The collision avoidance algorithm was developed to avoid possible collisions between the upper part of the human body and the links of the robot. The positions of 25 characteristic points of the body of the human operator are acquired by two vision sensors. The distances between the robot and the operator are evaluated with the proposed distance calculation algorithm. These algorithms permit a real-time control of a collaborative robot. The collision avoidance approach was tested with two kinds of experiments. The results of the tests are presented.

Paper Citation

in Harvard Style

Sabatino Scimmi L., Melchiorre M., Mauro S. and Pastorelli S. (2018). Multiple Collision Avoidance between Human Limbs and Robot Links Algorithm in Collaborative Tasks.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 291-298. DOI: 10.5220/0006852202910298

in Bibtex Style

@conference{icinco18,
author={Leonardo Sabatino Scimmi and Matteo Melchiorre and Stefano Mauro and Stefano Pastorelli},
title={Multiple Collision Avoidance between Human Limbs and Robot Links Algorithm in Collaborative Tasks},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={291-298},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006852202910298},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Multiple Collision Avoidance between Human Limbs and Robot Links Algorithm in Collaborative Tasks
SN - 978-989-758-321-6
AU - Sabatino Scimmi L.
AU - Melchiorre M.
AU - Mauro S.
AU - Pastorelli S.
PY - 2018
SP - 291
EP - 298
DO - 10.5220/0006852202910298