Authors:
Matteo Melchiorre
;
Leonardo Sabatino Scimmi
;
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, Human Robot Hand Over, Trajectory Planning, Motion Tracking.
Related
Ontology
Subjects/Areas/Topics:
Human-Robots Interfaces
;
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Real-Time Systems Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Vision, Recognition and Reconstruction
Abstract:
The paper analyses a possible cooperative task between a human operator and a robot. Operator and robot are interfaced by Microsoft Kinect® which is used to detect the position of an upper limb of the operator. The robot is driven by a control algorithm designed to track the hand of the human and to obtain a hand-over in the final part of the trajectory. The paper describes the algorithm and shows its performance with different velocities of the limbs by means of tests carried out in a simulation environment.