Proceedings of the 1st Workshop on Proximity Perception in Robotics at IROS 2018, Madrid, Spain

Stefan [Hrsg.] Escaida Navarro, Stephan [Hrsg.] Mühlbacher-Karrer, Hosam [Hrsg.] Alagi, Björn [Hrsg.] Hein, Hubert [Hrsg.] Zangl
The safety of collaborative robots' and human interaction can be guaranteed in two main ways: (i) power and force limiting and (ii) speed and separation monitoring. We present a framework that realises separation distance monitoring between a robot and a human operator based on key point pair-wise evaluation. We show preliminary results using a setup with a Nao humanoid robot and a RealSense RGB-D sensor and employing OpenPose human skeleton estimation algorithm, and work in progress on a KUKA
more » ... progress on a KUKA LBR iiwa platform.
doi:10.5445/ir/1000088104 fatcat:rrvhbhropjg5thge3nnv52y7iq