NDLI: Velocity control for safe robot guidance based on fused vision and force/torque data

Content Provider	IEEE Xplore Digital Library
Author	Kuhn, S. Gecks, T. Henrich, D.
Copyright Year	2006
Description	Author affiliation: Lehrstuhl fur Angewandte Informatik III, Bayreuth Univ. (Kuhn, S.; Gecks, T.; Henrich, D.)
Abstract	We present a method for securing guided robot motions in terms of human/robot cooperation. For this, we limit the maximum allowable velocity of the robot based on the distance to the human or to the next obstacle and generate the effective velocity using guidance informations provided by the interacting human. Therefore, we fuse the two heterogenous data types of a camera and a force torque sensor. The cameras are used to monitor the robot's workspace applying a difference image method. Given this obstacle information, distances are calculated between the robot and humans or objects in the environment respectively. The distance within each image is determined via an extended difference image method. The distances acquired from each camera are fused to approximate the real robot to object distance within the workspace. This distance regulates the maximum allowable velocity of the robot. The force/torque sensor provides the guidance information, i.e. amount, direction of the force and moment. This information is used to generate the robot's movement taking the maximum allowable velocity into consideration
Starting Page	485
Ending Page	492
File Size	621630
Page Count	8
File Format	PDF
ISBN	1424405661
DOI	10.1109/MFI.2006.265623
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-09-03
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Velocity control Robot vision systems Robot sensing systems Cameras Force sensors Torque Robot motion Human robot interaction Fuses Sensor fusion force torque sensor human/robot cooperation industrial robot workspace supervision difference image method heterogeonous multisensor fusion vision
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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