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Recognition of Human-Robot Motion Intentions by Trajectory Observation
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS)
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS)
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS)ORCID iD: 0000-0003-0217-9326
2016 (English)In: HSI2016: The 9th International Conference on Human System Interaction, IEEE, 2016, 229-235 p.Conference paper (Refereed)
Abstract [en]

Interaction of humans and autonomous robots in shared spatial areas is a challenging field of researchregarding human safety, system stability and performance of the system's behavior. In this paper the interaction between human and robot from the control point of view  is addressed and the time schedule of the exchanged signals is discussed. After a description of the  kinematic and geometric relations  between human and robot a so-called "compass dial" with the relative velocities is presented from which suitable fuzzy control rules are derived. The computation of the collision times at intersections and possible avoidance strategies are further discussed. Computations based on simulated and experimental data show the applicability of the methods presented.

Place, publisher, year, edition, pages
IEEE, 2016. 229-235 p.
Keyword [en]
Human robot interaction, human intentions, obstacle avoidance, fuzzy rules
National Category
Computer and Information Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-53700ISBN: 978-1-5090-1728-7/16OAI: oai:DiVA.org:oru-53700DiVA: diva2:1051078
Conference
The 9th International Conference on Human System Interaction, HSI2016, Portsmouth, UK, July 6-8, 2016
Projects
Action and Intention Recognition in Human Interaction with Autonomous Systems
Available from: 2016-12-01 Created: 2016-12-01 Last updated: 2016-12-13Bibliographically approved

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Palm, RainerChadalavada, RaviLilienthal, Achim
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