Scene Perception and Recognition for Human-Robot Co-operation
نویسندگان
چکیده
In this paper, an intuitive interface for collaborative tasks involving a human and a standard industrial robot is presented. The target for this interface is a worker who is experienced in manufacturing processes but has no experience in conventional industrial robot programming. Physical Human-Robot Interaction (pHRI) and interactive GUI control using hand gestures offered by this interface allows this novice user to instruct industrial robots with ease. This interface combines state of the art perception capabilities with first order logic reasoning to generate semantic description of the process plan. This semantic representation creates the possibility of including human and robot tasks in the same plan and also reduces the complexity of problem analysis by allowing process planning at semantic level, thereby isolating the problem description and analysis from the execution and scenario-specific parameters.
منابع مشابه
Scene Perception and Recognition in Industrial Environments for Human-Robot Interaction
In this paper, a scene perception and recognition module aimed at use in typical industrial scenarios is presented. The major contribution of this work lies in a 3D object detection, recognition and pose estimation module, which can be trained using CAD models and works for noisy data, partial views and in cluttered scenes. This algorithm was qualitatively and quantitatively compared with other...
متن کاملPerception and Reasoning for Scene Understanding in Human-Robot Interaction Scenarios
In this paper, a combination of perception modules and reasoning engines is used for scene understanding in typical Human-Robot Interaction(HRI) scenarios. The major contribution of this work lies in a 3D object detection, recognition and pose estimation module, which can be trained using CAD models and works for noisy data, partial views and in cluttered scenes. This perception module is combi...
متن کاملToBI - Team of Bielefeld : The Human - Robot Interaction System for RoboCup @ Home 2014
The Team of Bielefeld (ToBI) has been founded in 2009. The RoboCup activities are embedded in a long-term research history towards human-robot interaction with laypersons in regular home environments. The RoboCup@Home competition is an important benchmark and milestone for this goal in terms of robot capabilities as well as the system engineering approach. For RoboCup 2014, we mainly improved a...
متن کاملConcept for Human Robot Co-operation Integrating Artificial Haptic Perception
Human robot co-operation becomes more and more important when using robots in daily life and is a key note in the design of humanoid robots. The authors are members of the newly founded centre of excellence “Humanoid robots – cooperating and learning systems” at the University of Karlsruhe. Our group of researchers is responsible for the human robot co-operation, a haptic sensor system and the ...
متن کاملAn Experimental Study on Blinking and Eye Movement Detection via EEG Signals for Human-Robot Interaction Purposes Based on a Spherical 2-DOF Parallel Robot
Blinking and eye movement are one of the most important abilities that most people have, even people with spinal cord problem. By using this ability these people could handle some of their activities such as moving their wheelchair without the help of others. One of the most important fields in Human-Robot Interaction is the development of artificial limbs working with brain signals. The purpos...
متن کامل