Search

Title Author Year Keyword Project  include Videos
or and

Publication

Safe Human-Robot-Cooperation: Problem Analysis, System Concept and Fast Sensor Fusion
Dirk Ebert , Dominik Henrich

Abstract (english)
We present a system concept allowing humans to work safely in the same environment as a robot manipulator. Several cameras survey the common workspace. A look-up-table-based fusion algorithm is used to back-project directly from the image spaces of the cameras to the manipulator's configuration space. In the look-up-tables both, the camera calibration and the robot geometry are implicitly encoded. For experiments, a conven-tional 6 axis industrial manipulator is used. The work space is surveyed by four grayscale cameras. Due to the limits of present robot controllers, the computationally expensive parts of the system are executed on a server PC that communicates with the robot controller via Ethernet.

Publication data

Year: 2001
Publication date: 21. June 2001
Source: IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Baden-Baden, Germany, August 20-22, 2001
Project: SIMERO
Keywords (deutsch): Mensch-Roboter-Koexistenz , Mensch-Roboter-Kooperation
Keywords (english): Human-Robot-Coexistence , Human-Robot-Cooperation , sensor fusion
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=ebert2001a

BibTeX

@MISC{ebert2001a,
  TITLE             = "Safe Human-Robot-Cooperation: Problem Analysis, System Concept and Fast Sensor Fusion",
  AUTHOR            = "Ebert, Dirk and Henrich, Dominik",
  YEAR              = "2001",
  JOURNAL           = "IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Baden-Baden, Germany, August 20-22, 2001",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=ebert2001a}",
}

Download

Filename   Size   Language   Format
ebert2001a.Safe.HumanRobotCooperation.Problem.Analysis.System.Concept.and.Fast.Sensor.Fusion.djvu   132.4K   english   DJVU   download preprint
ebert2001a.Safe.HumanRobotCooperation.Problem.Analysis.System.Concept.and.Fast.Sensor.Fusion.pdf   1.2M   english   PDF   download preprint


© LS AI3 Uni-Bayreuth