SLIDE 1
Collision in Human Robot Collaboration
Fabrizio Flacco
Dipartimento di Ingegneria Informatica, Automatica e Gestionale AMR – Prof. G. Oriolo
Rome, April 17 2012 pHR Cooperation @ AMR 2
Safe pHRI
Human friendly robots
Collision in Human Robot Collaboration Fabrizio Flacco - - PowerPoint PPT Presentation
Collision in Human Robot Collaboration Fabrizio Flacco - - PowerPoint PPT Presentation
Collision in Human Robot Collaboration Fabrizio Flacco Dipartimento di Ingegneria Informatica, Automatica e Gestionale AMR Prof. G. Oriolo Safe pHRI Human friendly robots Safety Coexistence Collaboration Rome, April 17 2012 pHR
SLIDE 2
SLIDE 3
Rome, April 17 2012 pHR Cooperation @ AMR 3
Coexistence
YESTERDAY
1989
SLIDE 4
Rome, April 17 2012 pHR Cooperation @ AMR 4
Coexistence
TODAY
2012
SLIDE 5
Rome, April 17 2012 pHR Cooperation @ AMR 5
Coexistence
TOMORROW
SLIDE 6
Rome, April 17 2012 pHR Cooperation @ AMR 6
Safety
Top-down hierarchy
Collision avoidance Physical collision detection Variable Stiffness Actuator Lightweight and compliant robots
SLIDE 7
Rome, April 17 2012 pHR Cooperation @ AMR 7
Depth sensors
From stereovision to the Kinect
Stereovision Time of Flight Structured Light
SLIDE 8
Rome, April 17 2012 pHR Cooperation @ AMR 8
Depth space
A 2.5 dimensional space
Non-homogeneous 2.5 dimensional space
- x,y position of the point in the image plane (pixel)
- d depth of the point w.r.t. the image plane (m)
The depth space is modeled as a pin-hole Point in a Cartesian reference frame Point in the sensor frame Point in the depth space
SLIDE 9
Rome, April 17 2012 pHR Cooperation @ AMR 9
Depth Image
How to use it?
Configuration Space Cartesian Space Depth Space
SLIDE 10
Rome, April 17 2012 pHR Cooperation @ AMR 10
Configuration Space
Only for few dof
SLIDE 11
Rome, April 17 2012 pHR Cooperation @ AMR 11
Cartesian Space
A long process
SLIDE 12
Rome, April 17 2012 pHR Cooperation @ AMR 12
Depth Space
Distance Evaluation
Distance between a point of interest and an obstacle point
do>dp yes no
SLIDE 13
Rome, April 17 2012 pHR Cooperation @ AMR 13
Robot Depth Image
All known
SLIDE 14
Rome, April 17 2012 pHR Cooperation @ AMR 14
Repulsive Vector
A potential field like method
Repulsive vector generated from the distance vector Repulsive vector due to a single obstacle point The repulsive vectors due to all obstacles near to the point of interest are considered.
- orientation -> sum of all
repulsive vectors
- magnitude -> nearest
- bstacle
SLIDE 15
Rome, April 17 2012 pHR Cooperation @ AMR 15
Repulsive Vector
A potential field like method
SLIDE 16
Rome, April 17 2012 pHR Cooperation @ AMR 16
Repulsive Vector
A potential field like method
SLIDE 17
Rome, April 17 2012 pHR Cooperation @ AMR 17
Case of obstacles faster than control point Obstacles velocity taken into account by considering the variation of the repulsive vector O PoI O PoI
Obstacle Velocity
The pivot method
SLIDE 18
Rome, April 17 2012 pHR Cooperation @ AMR 18
- End effector
repulsive vector repulsive velocity
- Collision avoidance for the robot body
- Fluid, jerk limited motions feeling of safety
www.reflexxes.com
Repulsive vector Cartesian Constrains Joint velocity limit
Motion Control
End effector and other control points
SLIDE 19
Rome, April 17 2012 pHR Cooperation @ AMR 19
Safe Coexistence
Collision avoidance in depth space
SLIDE 20
Rome, April 17 2012 pHR Cooperation @ AMR 20
Collaboration
Physical and contactless
In physical collaboration, there is an explicit and intentional contact with exchange of forces between human and robot. By measuring or estimating these forces, the robot can predict human motion intentions and react accordingly. In contactless collaboration, there is no physical interaction: coordinated actions are guided or follow from an exchange of information, which can be achieved via direct commu- nication, like with gestures and/or voice commands, or indirect communication, by recognizing intentions or attention, e.g., through eye gaze.
SLIDE 21
Rome, April 17 2012 pHR Cooperation @ AMR 21
Safe Physical Collaboration
Allow contacts
SLIDE 22
Rome, April 17 2012 pHR Cooperation @ AMR 22
From human body to gesture recognition
Contactless Collaboration
Voice and Gesture
Speech recognition
Start Collaboration Starting Collaboration
SLIDE 23
Rome, April 17 2012 pHR Cooperation @ AMR 23
Contactless Collaboration
Voice and Gesture
SLIDE 24
Rome, April 17 2012 pHR Cooperation @ AMR 24
Contactless Collaboration
Voice and Gesture
SLIDE 25
Collision in Human Robot Collaboration
Fabrizio Flacco
Dipartimento di Ingegneria Informatica, Automatica e Gestionale AMR – Prof. G. Oriolo