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Recognition of human-robot motion intentions by trajectory observation | IEEE Conference Publication | IEEE Xplore

Recognition of human-robot motion intentions by trajectory observation


Abstract:

The intention of humans and autonomous robots to interact in shared spatial areas is a challenging field of research regarding human safety, system stability and performa...Show More

Abstract:

The intention of humans and autonomous robots to interact in shared spatial areas is a challenging field of research regarding human safety, system stability and performance of the system's behavior. In this paper the intention recognition between human and robot from the control point of view are addressed and the time schedule of the exchanged signals is discussed. After a description of the kinematic and geometric relations between human and robot a so-called “compass dial” with the relative velocities is presented from which suitable fuzzy control rules are derived. The computation of the collision times at intersections and possible avoidance strategies are further discussed. Computations based on simulated and experimental data show the applicability of the methods presented.
Date of Conference: 06-08 July 2016
Date Added to IEEE Xplore: 04 August 2016
ISBN Information:
Conference Location: Portsmouth, UK

References

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