Minimum distance calculation using skeletal tracking for safe human-robot interaction

Secil, Sezgin; Özkan, Metin

doi:10.1016/j.rcim.2021.102253

Cited by 35 publications

(6 citation statements)

References 29 publications

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“…The contributing speakers are similarly evenly distributed among the three main age groups and genders. In this instance, there are 25 male and female speakers in the young (18)(19)(20)(21)(22)(23)(24)(25)(26)(27)(28)(29), middle-aged (40)(41)(42)(43)(44)(45)(46)(47)(48)(49)(50)(51)(52)(53)(54)(55), and elderly (over 55) age brackets . There are 50 delegates for each age group and 75 delegates for each gender.…”

Section: Uf-vad Datasetmentioning

confidence: 99%

“…Engineering places a lot of emphasis on the concept of quality, which generally indicates how well a system, service, product, or service provider process complies with established requirements and operates within established parameters and conditions. [33][34][35][36][37][38][39][40][41][42][43].…”

Section: Introductionmentioning

confidence: 99%

“…Physical human-robot interaction has emerged as a critical issue in many fields, including human-robot collaboration learning by demonstration and rehabilitation [33,[39][40][41][42][43][44][45].…”

Section: Introductionmentioning

confidence: 99%

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Multimodal Age and Gender Estimation for Adaptive Human-Robot Interaction: A Systematic Literature Review

et al. 2023

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Identifying the gender of a person and his age by way of speaking is considered a crucial task in computer vision. It is a very important and active research topic with many areas of application, such as identifying a person, trustworthiness, demographic analysis, safety and health knowledge, visual monitoring, and aging progress. Data matching is to identify the gender of the person and his age. Thus, the study touches on a review of many research papers from 2016 to 2022. At the heart of the topic, many systematic reviews of multimodal pedagogies in Age and Gender Estimation for Adaptive were undertaken. However, no current study of the theme concerns connected to multimodal pedagogies in Age and Gender Estimation for Adaptive Learning has been published. The multimodal pedagogies in four different databases within the keywords indicate the heart of the topic. A qualitative thematic analysis based on 48 articles found during the search revealed four common themes, such as multimodal engagement and speech with the Human-Robot Interaction life world. The study touches on the presentation of many major concepts, namely Age Estimation, Gender Estimation, Speaker Recognition, Speech recognition, Speaker Localization, and Speaker Gender Identification. According to specific criteria, they were presented to all studies. The essay compares these themes to the thematic findings of other review studies on the same topic such as multimodal age, gender estimation, and dataset used. The main objective of this paper is to provide a comprehensive analysis based on the surveyed region. The study provides a platform for professors, researchers, and students alike, and proposes directions for future research.

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Section: Uf-vad Datasetmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Multimodal Age and Gender Estimation for Adaptive Human-Robot Interaction: A Systematic Literature Review

et al. 2023

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“…Therefore, compared with LC, GJK is widely used in computing distance for convex objects. In a recently proposed approach [ 8 ], human body joints are obtained by using a skeletal tracking algorithm via an RGB-D sensor. Then, both the human body and robot arm are represented by capsules and the minimum distance is calculated using the GJK algorithm.…”

Section: Related Workmentioning

confidence: 99%

An Online Distance Tracker for Verification of Robotic Systems’ Safety

Guclu

Örnek

Özkan

et al. 2023

Sensors

Self Cite

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This paper presents an efficient method for minimum distance calculation between a robot and its environment and the implementation framework as a tool for the verification of robotic systems’ safety. Collision is the most fundamental safety problem in robotic systems. Therefore, robotic system software must be verified to ensure that there are no risks of collision during development and implementation. The online distance tracker (ODT) is intended to provide minimum distances between the robots and their environments for verification of system software to inspect whether it causes a collision risk. The proposed method employs the representations of the robot and its environment with cylinders and an occupancy map. Furthermore, the bounding box approach improves the performance of the minimum distance calculation regarding computational cost. Finally, the method is applied to a realistically simulated twin of the ROKOS, which is an automated robotic inspection cell for quality control of automotive body-in-white and is actively used in the bus manufacturing industry. The simulation results demonstrate the feasibility and effectiveness of the proposed method.

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“…A similar strategy is used in ref. [21], where the representation of robot and human is obtained using capsules to simplify and speed up the distance calculation. An alternative approach is presented in ref.…”

Section: Introductionmentioning

confidence: 99%

An experimental evaluation of robot-stopping approaches for improving fluency in collaborative robotics

Scalera,

Lozer,

Giusti

et al. 2024

Robotica

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This paper explores and experimentally compares the effectiveness of robot-stopping approaches based on the speed and separation monitoring for improving fluency in collaborative robotics. In the compared approaches, a supervisory controller checks the distance between the bounding volumes enclosing human operator and robot and prevents potential collisions by determining the robot’s stop time and triggering a stop trajectory if necessary. The methods are tested on a Franka Emika robot with 7 degrees of freedom, involving 27 volunteer participants, who are asked to walk along assigned paths to cyclically intrude the robot workspace, while the manipulator is working. The experimental results show that scaling online the dynamic safety zones is beneficial for improving fluency of human-robot collaboration, showing significant statistical differences with respect to alternative approaches.

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Minimum distance calculation using skeletal tracking for safe human-robot interaction

Cited by 35 publications

References 29 publications

Multimodal Age and Gender Estimation for Adaptive Human-Robot Interaction: A Systematic Literature Review

Multimodal Age and Gender Estimation for Adaptive Human-Robot Interaction: A Systematic Literature Review

An Online Distance Tracker for Verification of Robotic Systems’ Safety

An experimental evaluation of robot-stopping approaches for improving fluency in collaborative robotics

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