Recognition of Human-Robot Motion Intentions by Trajectory Observation
2016 (English)In: HSI2016: The 9th International Conference on Human System Interaction, IEEE, 2016, 229-235 p.Conference paper (Refereed)
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.
Human robot interaction, human intentions, obstacle avoidance, fuzzy rules
Computer and Information Science
Research subject Computer Science
IdentifiersURN: urn:nbn:se:oru:diva-53700ISBN: 978-1-5090-1728-7/16OAI: oai:DiVA.org:oru-53700DiVA: diva2:1051078
The 9th International Conference on Human System Interaction, HSI2016, Portsmouth, UK, July 6-8, 2016
ProjectsAction and Intention Recognition in Human Interaction with Autonomous Systems