| 1. |
- Barcellini, Alberto, et al.
(författare)
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Integrating an Anti-Collision System Based on Laser Time-Of-Flight Sensor in an Industrial Robot Controller
- 2012
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Ingår i: 10th IFAC Symposium on Robot Control. - 1474-6670. - 9783902823113 ; , s. 664-669
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Konferensbidrag (refereegranskat)abstract
- Safe coexistence of industrial robots and human operators in the same workspace is one of the long standing goals of robotics research. One way to enforce safety is to endow the robotic system with additional sensors that can to some extent monitor the environment surrounding the robot and allow fast reaction to unexpected obstacles. This paper discusses the design of one such anti-collision system based on a laser Time-Of-Flight distance sensor. Integration of the external controller in the hardware and software architecture of a commercial industrial robot controller is discussed. Experimental results show fast response of the system to various obstacles
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| 2. |
- Papadopoulos, Alessandro Vittorio, et al.
(författare)
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A Comparative Evaluation of Human Motion Planning Policies
- 2014
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Ingår i: IFAC Proceedings Volumes. ; 47:3, s. 12299-12304
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Tidskriftsartikel (refereegranskat)abstract
- A recently proposed approach to human intention estimation in goal-oriented motion is further improved in this paper. The main features of the approach are the fact that the unicycle model has been rewritten with the natural coordinate as the independent variable, avoiding the explicit dependence from the walking velocity and lowering the number of input variables to one, the proposal of a novel cost function, weighting not only the energy needed to perform the path but also the current distance of the human with respect to the target, and the adoption of the Frechét metric to assess the similarity of experimental and estimated paths. The proposed cost function is compared with other two cost functions, adopted in previous works, with reference to experimental data. The performance improvements with respect to the previous approach are apparent, either from a qualitative point of view and from a statistical analysis of the error distances.
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| 3. |
- Papadopoulos, Alessandro Vittorio, et al.
(författare)
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Generation of human walking paths
- 2016
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Ingår i: Autonomous Robots. - United States : Springer Science and Business Media LLC. - 0929-5593 .- 1573-7527. ; 40:1, s. 59-75
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Tidskriftsartikel (refereegranskat)abstract
- This work investigates the way humans plan their paths in a goal-directed motion, assuming that a person acts as an optimal controller that plans the path minimizing a certain (unknown) cost function. Taking this viewpoint, the problem can be formulated as an inverse optimal control one, i.e., starting from control and state trajectories one wants to figure out the cost function used by a person while planning the path. The so-obtained model can be used to support the design of safe human-robot interaction systems, as well as to plan human-like paths for humanoid robots. To test the envisaged ideas, a set of walking paths of different volunteers were recorded using a motion capture facility. The collected data were used to compare two solutions to the inverse optimal control problem coming from the literature to a novel one. The obtained results, ranked using the discrete Fréchet distance, show the effectiveness of the proposed approach.
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