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

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

Keyword(s): Collaborative Robotics, Artificial Potentials, Collision Avoidance Algorithm, Trajectory Planning.

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

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.

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Paper citation in several formats:
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; ISSN 2184-2809, SciTePress, pages 291-298. DOI: 10.5220/0006852202910298

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Sabatino Scimmi, L.
AU - Melchiorre, M.
AU - Mauro, S.
AU - Pastorelli, S.
PY - 2018
SP - 291
EP - 298
DO - 10.5220/0006852202910298
PB - SciTePress

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