Cristin-resultat-ID: 1573064
Sist endret: 22. mars 2018 07:49
NVI-rapporteringsår: 2018
Resultat
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
2018

Inertial Human Motion Estimation for Physical Human-Robot Interaction Using an Interaction Velocity Update to Reduce Drift

Bidragsytere:
  • Erik Kyrkjebø

Bok

Proceeding Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction
ISBN:
  • 978-1-4503-5615-2

Utgiver

Association for Computing Machinery (ACM)
NVI-nivå 1

Om resultatet

Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Publiseringsår: 2018
Sider: 163 - 164
ISBN:
  • 978-1-4503-5615-2
Open Access

Importkilder

Scopus-ID: 2-s2.0-85045250359

Klassifisering

Fagfelt (NPI)

Fagfelt: Elektronikk og kybernetikk
- Fagområde: Realfag og teknologi

Beskrivelse Beskrivelse

Tittel

Inertial Human Motion Estimation for Physical Human-Robot Interaction Using an Interaction Velocity Update to Reduce Drift

Sammendrag

Robots used for physical human-robot interaction (pHRI) are currently advancing from being simple stand-alone manipulators passing tools or parts to human collaborators to becoming autonomous co-workers that continuously share operational control with their human partners. One of the major challenges in this transition is to extend robot capabilities in sensing human motions and behaviour, thereby allowing for more seamless cooperation and ensuring the safety of human partners. Currently, there is a gap between the desire for humans and robots to work closely together and share control of operations, and how robustly we can measure and predict human motions and intentions in pHRI operations. In this paper, we propose to use a set of wireless inertial motion sensors fixed to the body of the human partner to track and estimate human motions, and to use the interaction contact between the robot and the human, as detected by a force/torque (FT) sensor, as an interaction velocity update (IVU) to estimate and reduce drift in the position/orientation estimates. Our hypothesis is that human motion estimates from inertial sensors with an IVU will give sufficiently accurate and robust motion information for safe cooperative pHRI operations.

Bidragsytere

Erik Kyrkjebø

  • Tilknyttet:
    Forfatter
    ved Fakultet for ingeniør- og naturvitskap ved Høgskulen på Vestlandet
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Resultatet er en del av Resultatet er en del av

Proceeding Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction.

Kanda, Takayuki; Sabanovic, Selma; Hoffman, Guy; Tapus, Adriana. 2018, Association for Computing Machinery (ACM). Vitenskapelig antologi/Konferanseserie
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