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Human-aware motion reshaping using dynamical systems

Saveriano, Matteo and Hirt, Fabian and Lee, Dongheui (2017) Human-aware motion reshaping using dynamical systems. Pattern Recognition Letters. Elsevier. doi: 10.1016/j.patrec.2017.04.014. ISSN 0167-8655.

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In this work, we present a real-time approach for human-aware motion replanning using a two-level hierarchical architecture. The lower level leverages stable dynamical systems to generate motor commands and to online reshape the robot trajectories. The reshaping strategy modifies the velocity of the robot to match three requirements: i) to increase the human safety in case of close interaction with the robot, ii) to guarantee the correct task execution in case of unforeseen obstacles (including the human), and iii) to replan online the current task taking into account the human behavior. The lower level has to execute all needed computations in real-time. To this end, we also propose a novel approach that leverages depth space structure and parallel programming to rapidly and accurately estimate the robot-obstacle distances. The higher level of the architecture monitors the human and provides to the lower level information about the human status. The proposed approach has been tested in a human robot interaction scenario, showing promising results in terms of safe human-robot coexistence.

Item URL in elib:https://elib.dlr.de/113320/
Document Type:Article
Title:Human-aware motion reshaping using dynamical systems
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lee, DongheuiUNSPECIFIEDhttps://orcid.org/0000-0003-1897-7664UNSPECIFIED
Date:22 April 2017
Journal or Publication Title:Pattern Recognition Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:Human-aware motion planning; Human-robot coexistence; Safe human-robot interaction
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lee, Prof. Dongheui
Deposited On:19 Jul 2017 15:44
Last Modified:11 Jul 2023 08:44

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