research-article

Collision Driven Multi Scenario Approach for Human Collaboration with Industrial Robot

Authors:

Stanislav Mikhel,

Alexandr KlimchikAuthors Info & Claims

ICMRE 2018: Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering

Pages 78 - 84

https://doi.org/10.1145/3191477.3191499

Published: 07 February 2018 Publication History

Abstract

This study focuses on the problem of robot interaction with a dynamically changing environment. Particular attention is paid to the problem of human collaboration with industrial robot in a shared common workspace. The paper identifies collisions and provides algorithms for different scenarios of obstacle avoidance, considering the nature of interaction and contact point location. The developed mathematical framework is based on the neural network classification and finite state machine, followed by appropriate collision reaction/avoidance algorithms. The advantages of the developed approach were demonstrated by an experimental study dealing with Kuka LBR IIWA 14 robot interaction with a human and dynamic environment.

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Cited By

Vorndamme JMelone AKirschner RFigueredo LHaddadin S(2025)Safe Robot Reflexes: A Taxonomy-Based Decision and Modulation FrameworkIEEE Transactions on Robotics10.1109/TRO.2024.351942141(982-1001)Online publication date: 2025
https://doi.org/10.1109/TRO.2024.3519421
Castro ABaptista JSilva FSantos V(2023)Classification of handover interaction primitives in a COBOT–human context with a deep neural networkJournal of Manufacturing Systems10.1016/j.jmsy.2023.03.01068(289-302)Online publication date: Jun-2023
https://doi.org/10.1016/j.jmsy.2023.03.010
Farina MShaker WAli AHussein SDalang FBassey J(2023)Automated guided vehicles with a mounted serial manipulator: A systematic literature reviewHeliyon10.1016/j.heliyon.2023.e15950(e15950)Online publication date: May-2023
https://doi.org/10.1016/j.heliyon.2023.e15950
Show More Cited By

Index Terms

Collision Driven Multi Scenario Approach for Human Collaboration with Industrial Robot
1. Human-centered computing
  1. Human computer interaction (HCI)
    1. Interaction paradigms
      1. Collaborative interaction

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cover image ACM Other conferences

ICMRE 2018: Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering

February 2018

177 pages

ISBN:9781450363655

DOI:10.1145/3191477

Copyright © 2018 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Beijing Jiaotong University
York University

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 07 February 2018

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Russian Science Foundation

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ICMRE 2018

ICMRE 2018: 2018 4th International Conference on Mechatronics and Robotics Engineering

February 7 - 11, 2018

Valenciennes, France

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Citations

Cited By

Vorndamme JMelone AKirschner RFigueredo LHaddadin S(2025)Safe Robot Reflexes: A Taxonomy-Based Decision and Modulation FrameworkIEEE Transactions on Robotics10.1109/TRO.2024.351942141(982-1001)Online publication date: 2025
https://doi.org/10.1109/TRO.2024.3519421
Castro ABaptista JSilva FSantos V(2023)Classification of handover interaction primitives in a COBOT–human context with a deep neural networkJournal of Manufacturing Systems10.1016/j.jmsy.2023.03.01068(289-302)Online publication date: Jun-2023
https://doi.org/10.1016/j.jmsy.2023.03.010
Farina MShaker WAli AHussein SDalang FBassey J(2023)Automated guided vehicles with a mounted serial manipulator: A systematic literature reviewHeliyon10.1016/j.heliyon.2023.e15950(e15950)Online publication date: May-2023
https://doi.org/10.1016/j.heliyon.2023.e15950
Cichosz CGurocak H(2022)Collision Avoidance in Human-Cobot Work Cell Using Proximity Sensors and Modified Bug Algorithm2022 10th International Conference on Control, Mechatronics and Automation (ICCMA)10.1109/ICCMA56665.2022.10011601(53-59)Online publication date: 9-Nov-2022
https://doi.org/10.1109/ICCMA56665.2022.10011601
Popov DMikhel SYagfarov RKlimchik APashkevich A(2021)Multi-Scenario Contacts Handling for Collaborative Robots Applications2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS51168.2021.9636113(2985-2992)Online publication date: 27-Sep-2021
https://doi.org/10.1109/IROS51168.2021.9636113
Deuerlein CMüller FSeßner JHeß PFranke J(2021)Improved design flexibility of open robot cells through tool-center-point monitoringProcedia CIRP10.1016/j.procir.2021.05.069100(295-300)Online publication date: 2021
https://doi.org/10.1016/j.procir.2021.05.069
Cioffi GKlose SWahrburg A(2020)Data-Efficient Online Classification of Human-Robot Contact Situations2020 European Control Conference (ECC)10.23919/ECC51009.2020.9143644(608-614)Online publication date: May-2020
https://doi.org/10.23919/ECC51009.2020.9143644
Popov DKlimchik A(2019)Real-Time External Contact Force Estimation and Localization for Collaborative Robot2019 IEEE International Conference on Mechatronics (ICM)10.1109/ICMECH.2019.8722893(646-651)Online publication date: Mar-2019
https://doi.org/10.1109/ICMECH.2019.8722893
Popov DKlimchik A(2019)Multi-collision Detection for Collaborative Robot2019 3rd School on Dynamics of Complex Networks and their Application in Intellectual Robotics (DCNAIR)10.1109/DCNAIR.2019.8875610(145-148)Online publication date: Sep-2019
https://doi.org/10.1109/DCNAIR.2019.8875610
Mikhel SPopov DMamedov SKlimchik A(2018)Advancement of Robots With Double Encoders for Industrial and Collaborative ApplicationsProceedings of the 23rd Conference of Open Innovations Association FRUCT10.5555/3299905.3299938(246-252)Online publication date: 19-Nov-2018
https://dl.acm.org/doi/10.5555/3299905.3299938
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