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Collision avoidance in human-robot interaction using kinect vision system combined with robot’s model and data

Nascimento, Hugo and Mujica, Martin and Benoussaad, Mourad Collision avoidance in human-robot interaction using kinect vision system combined with robot’s model and data. (2020) In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 24 October 2020 - 24 January 2021 (Las Vegas, United States).

(Document in English)

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Official URL: https://doi.org/10.1109/IROS45743.2020.9341248


Human-Robot Interaction (HRI) is a largely ad-dressed subject today. Collision avoidance is one of main strategies that allow space sharing and interaction without contact between human and robot. It is thus usual to use a 3D depth camera sensor which may involves issues related to occluded robot in camera view. While several works overcame this issue by applying infinite depth principle or increasing the number of cameras, we developed in the current work a new and an original approach based on the combination of a 3D depth sensor (Microsoft® Kinect V2) and the proprioceptive robot position sensors. This method uses a principle of limited safety contour around the obstacle to dynamically estimate the robot-obstacle distance, and then generate the repulsive force that controls the robot. For validation, our approach is applied in real time to avoid collision between dynamical obstacles (humans or objects) and the end-effector of a real 7-dof Kuka LBR iiwa collaborative robot.Several strategies based on distancing and its combination with dodging were tested. Results have shown a reactive and efficient collision avoidance, by ensuring a minimum obstacle-robot distance (of ≈ 240mm), even when the robot is in an occluded zone in the Kinect camera view.

Item Type:Conference or Workshop Item (Paper)
Additional Information:© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
HAL Id:hal-03223180
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Other partners > Universidade Federal de Pernambuco - UFPE (BRAZIL)
Laboratory name:
BRAFITEC (Brazil France Technology) program
Deposited On:29 Apr 2021 14:54

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