System Design for Human-robot Coexisting Environment Satisfying Multiple Interaction Tasks

被引：0
|
作者：
Yu X.-Y. [1 ]
Wang Z.-A. [1 ]
Wu J.-X. [1 ]
Ou L.-L. [1 ]
机构：
[1] College of Information Engineering, Zhejiang University of Technology, Hangzhou
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2022年 / 48卷 / 09期
关键词：
human pose estimation; Human-robot interaction; optimization; robot control; sensor fusion;
D O I：
10.16383/j.aas.c190753
中图分类号：
学科分类号：
摘要：
System design for human-robot coexisting environment has become a research hotspot due to great demand for applying robots as supportive tools in human workspaces for flexible industrial production. Recent researches have been focused on the problem of human pose estimation and flexible robot control. In this paper, a system for human-robot coexisting environment that adapts to multiple interaction tasks is designed. 2D human poses detected from multiple camera views and rotational measurements detected by wearable inertial measurement units on human limbs are fused by establishing optimization problem to estimate the 3D pose of human upper body, which surpasses the detection performance by using single module of sensors when dealing with obstacles and sensor noises. By considering the kinematics of the robots and the flexibility demands in human-robot interaction, a target-following based control strategy with motion target bounding and model predictive control is applied to enhance the motion flexibility of a robot while ensuring the safety of human operator and the robot itself. The designed system is tested by several interactive experiments including motion following, object fetching, active collision avoidance. The results show the validity and reliability of the system in human-robot coexisting environment. © 2022 Science Press. All rights reserved.
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页码：2265 / 2276
页数：11
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