Visual coordination task for human-robot collaboration

Maram Khatib, Khaled Al Khudir, Alessandro De Luca

Research output: Chapter in Book/Report/Conference proceedingChapter

4 Citations (Scopus)

Abstract

In the framework of Human-Robot Collaboration, a robot and a human operator may need to move in close coordination within the same workspace. A contactless coordinated motion can be achieved using vision, mounting a camera either on the robot end-effector or on the human. We consider here one instance of such a visual coordination task, with the robot end-effector that should maintain a prescribed position with respect to a moving RGB-D camera while pointing at it. For the 3D localization of the moving camera, we compare three different techniques and introduce some improvements to the best solution found for our application. For the motion tracking problem, we introduce a relaxed version of the pointing part of the task. This allows to take advantage of the redundancy of the robot, distributing the control effort over the available degrees of freedom. The effectiveness of the proposed approach is shown by V-REP simulations and experiments with the 7-dof KUKA LWR manipulator.
Original languageEnglish
Title of host publication2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Pages3762 - 3768
Number of pages7
ISBN (Electronic)978-1-5386-2682-5
DOIs
Publication statusPublished - 14 Dec 2017
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems - Vancouver, Canada
Duration: 24 Sep 201728 Sep 2017
https://www.iros2017.org/

Publication series

Name
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2017
CountryCanada
CityVancouver
Period24/09/1728/09/17
Internet address

Keywords

  • robotics
  • visual sensors
  • human-robot interaction
  • motion control

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  • Research Output

    • 4 Citations
    • 4 Article

    Human-robot contactless collaboration with mixed reality interface

    Khatib, M., Al Khudir, K. & De Luca, A., 5 Aug 2020, In : Robotics and Computer-Integrated Manufacturing. 67, 12 p., 102030.

    Research output: Contribution to journalArticle

  • Task Priority Matrix at the acceleration level: Collision avoidance under relaxed constraints

    Khatib, M., Al Khudir, K. & De Luca, A., 25 Jun 2020, In : IEEE Robotics and Automation Letters. 5, 3, p. 4970-4977 8 p., 9126194.

    Research output: Contribution to journalArticle

  • 1 Citation (Scopus)

    Stable torque optimization for redundant robots using a short preview

    Al Khudir, K., Halvorsen, G., Lanari, L. & De Luca, A., 15 Feb 2019, In : IEEE Robotics and Automation Letters. 4, 2, p. 2046-2053 8 p.

    Research output: Contribution to journalArticle

  • 3 Citations (Scopus)

    Cite this

    Khatib, M., Al Khudir, K., & De Luca, A. (2017). Visual coordination task for human-robot collaboration. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3762 - 3768). IEEE. https://doi.org/DOI:10.1109/IROS.2017.8206225