Safe human-robot cooperation based on an adaptive time-independent image path tracker

International Journal of Innovative Computing, Information and Control

Volumn 6, Issue 9, 2010, Pages 3819-3842

  Pomares, Jorge ^a   Candelas, Francisco A ^a   Torres, Fernando ^a   Corrales, Juan A ^a   García, Gabriel J ^a  

^a UNIVERSITY OF ALICANTE   (Spain)

Author keywords

Human robot collaboration; Manufacturing; Robot guidance; Tracking trajectories; Visual servoing

Indexed keywords

COLLISION AVOIDANCE SYSTEMS; COMPUTER VISION SYSTEM; GUIDE ROBOTS; HUMAN OPERATOR; HUMAN SAFETY; HUMAN-ROBOT COLLABORATION; HUMAN-ROBOT COOPERATION; IMAGE-BASED; LIGHT BULBS; LYAPUNOV THEORIES; MANUFACTURING SYSTEM; ROBOT GUIDANCE; SAFETY SYSTEM; TRACKING TRAJECTORIES; VIRTUAL VISUAL SERVOING;

END EFFECTORS; HUMAN COMPUTER INTERACTION; INCANDESCENT LAMPS; MANUFACTURE; SECURITY SYSTEMS;

VISUAL SERVOING;

EID: 80052530021     PISSN: 13494198     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (40)

1. P. Kopacek, Intelligent assembly and disassembly past, present and future, International Conference on Intelligent Assembly and Disassembly, Alicante, Spain, vol.5, no.1, 2008.
2. S. R. Cruz-Ramirez, Y. Ishizuka, Y. Mae, T. Takubo and T. Arai, Dismantling interior facilities in buildings by human robot collaboration, IEEE International Conference on Robotics and Automation, pp.2583-2590, 2008.
3. A. Sánchez, R. Zotovic, A. Valera, E. J. Bernabeu, C. Ricolfe, E. Olmos, A. Robertsson and Y. K. Nilsson, Automatic disassembly system architecture for end-of-life vehicles, WSEAS International Conference on International Conference on Automation and Information, Bucharest, Romania, pp.68-73, 2008.
4. F. Chaumette and S. Hutchinson, Visual servo control, Part I: Basic approaches, IEEE Robotics and Automation Magazine, vol. 13, no.4, pp.82-90, 2006.
5. G. Chesi and Y. S. Hung, Global path-planning for constrained and optimal visual servoing, IEEE Transactions on Robotics, vol.23, no.5, pp.1050-1060, 2007.
6. E. Malis, Visual servoing invariant to changes in camera-intrinsic parameters, IEEE Transactions on Robotics and Automation, vol.20, no.1, pp.72-81, 2004.
7. Y. Mezouar and F. Chaumette, Path planning for robust image-based control, IEEE Transactions on Robotics and Automation, vol. 18, no.4, pp.534-549, 2002.
8. D. H. Kim, Y. G. Ryu and M. J. Chung, Stability analysis of image-based visual servoing regarding with caméra calibration errors, The 13th International Conference on Advanced Robotics, Jeju, Korea, pp.176-181, 2007.
9. D. Ebert and D. Henrich, Safe human-robot-cooperation: Problem analysis, system concept and fast sensor fusion, Proc. of the International Conference on Multisensor Fusion and Intégration for Intelligent Systems, pp.239-244, 2001.
10. J. Krüger, B. Nickolay, P. Heyer and G. Seliger, Image based 3D surveillance for flexible manrobot- cooperation, CIRP Annals - Manufacturing Technology, vol.54, no.1, pp. 19-22, 2005.
11. R. D. Schraft, C. Meyer, C. Parlitz and E. Helms, PowerMate - A safe and intuitive robot assistant for handling and assembly tasks, IEEE International Conference on Robotics and Automation, pp.4074-4079, 2005.
12. D. Henrich and T. Gecks, Multi-camera collision detection between known and unknown objects, ACM/IEEE International Conference on Distributed Smart Caméras, Stanford, CA, pp.1-10, 2008.
13. B. Sugandi, H. Kim, J. K. Tan and S. Ishikawa, Tracking of moving persons using multi-camera employing peripheral incrément sign correlation image, ICIC Express Letters, vol. 1, no.2, pp.177-183, 2007.
14. Z. B. Musa and J. Watada, Multi-camera tracking system for human motions in different areas and situations, International Journal of Innovative Computing, Information and Control, vol.4, no.5, pp.1213-1222, 2008.
15. S. Hutchinson, G. D. Hager and P. I. Corke, A tutorial on visual servo control, IEEE Transactions on Robotics and Automation, vol. 12, no.5, pp.651-670. 1996.
16. E. Malis and P. Rives, Robustness of image-based visual servoing with respect to depth distribution errors, IEEE International Conference on Robotics and Automation, vol.l, pp.1056-1061, 2003.
17. R. Y. Tsai, A versatile caméra calibration technique for high accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses, IEEE Journal Robotics Automation, vol.RA-3, no.4, pp.323-344, 1987.
18. Z. Zhang, Flexible camera calibration by viewing a plane from unknown orientations, International Conference on Computer Vision, Corfu, Greece, pp.666-673, 1999.
19. E. Hemayed, A survey of camera self-calibration, IEEE Conference on Advanced Video and Signal Based Surveillance, Miami, FL, pp.351-357, 2003.
20. E. Marchand and F. Chaumette, A new formulation for non-linear camera calibration using VVS, Publication Interne 1366, IRISA, Rennes, France, 2001.
21. A. Isidori, Non-linear Control Systems, 3rd ed., Springer-Verlag, New York, 1995.
22. E. Foxlin, Inertial head-tracker sensor fusion by a complementary separate-bias Kalman filter, IEEE Virtual Reality Annual International Symposium, Santa Clara, CA, pp. 185-194, 1996.
23. G. Welch and E. Foxlin, Motion tracking: No silver bullet but a respectable arsenal, IEEE Computer Graphics and Applications, vol.22, no.6, pp.24-38, 2002.
24. M. Onishi, T. Odashima, Z. Luo and S. Hosoe, An immersion-type 3D dynamic simulation environment for developing human interactive robot systems, Systems and Computers, vol.37, no.10, pp.368-377, 2006.
25. Y. H. Seo, I. W. Jeong and H. S. Yang, Motion capture-based wearable interaction system and its application to humanoid robot, AMIO, Advanced Robotics, vol.21, no.15, pp.1725-1741, 2007.
26. J. A. Corrales, F. A. Candelas and F. Torres, Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter, Proc. of the 3rd ACM/IEEE International Conference on Human- Robot Interaction, Amsterdam, Netherlands, pp. 193-200, 2008.
27. D. Simon, Kalman fîltering, Embedded Systems Programming, vol.14, no.6. pp.72-79, 2001.
28. Y. Yamada, Y. Hirasawa, S. Huang, Y. Umetani and K. Suita, Human-robot contact in the safe guarding space, IEEE/ASME Transactions on Mechatronics, vol.2, no.4, pp.230-236, 1997.
29. H. Lim and K. Tanie, Collision-tolerant control of human-friendly robot with viscoelastic trunk, IEEE/ASME Transactions on Mechatronics, vol.4, no.4, pp.417-427, 1999.
30. S. Lu and J. H. Chung, Collision detection enabled weighted path planning: A wrist and base force/torque sensors approach, Proc. of the 12th International Conference on Advanced Robotics, Seattle, WA, pp. 165-170, 2005.
31. J. Heinzmann and A. Zelinsky, Quantitative safety guarantees for physical human-robot interaction, The International Journal of Robotics Research, vol.22, no.7-8, pp.479-504, 2003.
32. O. Brock and O. Khatib, Elastic strips: A framework for motion generation in human environments, The International Journal of Robotics Research, vol.21, no.12, pp.1031-1052, 2002.
33. D. Aarno, F. Lingelbach and D. Kragid, Constrained path planning and task-consistent path adaptation for mobile manipulators, Proc. of the 12th International Conference on Advanced Robotics, Seattle, WA, pp.268-273, 2005.
34. C. Ericson, Real-time Collision Detection (Morgan Kaufmann Series in Interactive 3D Technology), Morgan Kaufmann, 2005.
35. L. Balan and G. M. Bone, Real-time 3D collision avoidance method for safe human and robot coexistence, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp.276-282, 2006.
36. B. Martinez-Salvador, M. Perez-Francisco and A. P. Del Pobil, Collision detection between robot arms and people, Journal of Intelligent and Robotic Systems, vol.38, no.1, pp.105-119, 2003.
37. K. Najim, E. Ikonen and E. Gomez-Ramirez, Trajeetory tracking control based on a genealogical decision tree controller for robot manipulators, International Journal of Innovative Computing, Information and Control, vol.4, no.1, pp.53-62, 2008.
38. T. Masanori, Self-repairing and tracking for systems with sensor failures, International Journal of Innovative Computing, Information and Control, vol.4, no.12, pp.3297-3306, 2008.
39. F. Schramm and G. Morel, Ensuring visibility in calibration-free path planning for image-based visual servoing, IEEE Transactions on Robotics, vol.22, no.4, pp.848-854, 2006.
40. J. Pomares and F. Torres, Movement-flow based visual servoing and force control fusion for manipulation tasks in unstructured environments, IEEE Transactions on Systems, Man, and Cybernetics Part C, vol.35, no.1, pp.4-15, 2005.