Radar Sensors in Collaborative Robotics: Fast Simulation and Experimental Validation

Stetco, Christian; Ubezio, Barnaba; Mühlbacher-Karrer, Stephan; Zangl, Hubert

doi:10.1109/icra40945.2020.9197180

Cited by 20 publications

(4 citation statements)

References 28 publications

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“…Advantages of FMCW-radar are that they provide distance and velocity measurements simultaneously with a high resolution for close ranges, which makes them suitable for proximity perception, collision avoidance, and HRI, e. g. gesture control, in the field of robotics. In [92], a simulation c 2021 IEEE. Personal use of this material is permitted.…”

Section: Radarmentioning

confidence: 99%

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

et al. 2022

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Section: Radarmentioning

confidence: 99%

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

et al. 2022

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“…Especially, various efforts have been reported for human presence sensing to replace the conventional laser scanning approach by introducing the radar as an extrinsic sensor system [22], [23]. Moreover, radar applications such as sensor fusion, which includes radar and laser scanners, or simulation approaches for layout optimization have been proposed [24], [25]. Therefore, the productivity of HRC using radars can be improved if highly accurate human body detection (for example, the detection of human hand) is performed.…”

Section: Literature Reviewmentioning

confidence: 99%

Detection Error Contaminated by Outliers to Classify Density Profiles Dependent on the Relative Speed Between a MIMO Sensor and a Human Hand

2022

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The detection of human hand intrusion is crucial for improving the productivity of human-robot collaboration. Recent trends to safety-related sensors have adopted the concept of radar-based human presence detection. Some of them have already been commercialized. However, it has not yet been elucidated whether radars can sufficiently detect human hand intrusion and satisfy the required safety integrity level. In this study, we present outlier and error profiles obtained by detecting human hand intrusion based on the motion and speeds of the human hand and radar sensor. Our experiments indicate that slow hand movements require further studies from the viewpoint of safety. In addition, we suggest a new noise model demonstrating random noise and temporary outliers based on the recorded noise profiles of actual human participants. The obtained outlier and error profiles can be utilized as an outlier judgement criterion of the sensing in the specific case of the radar.INDEX TERMS Human hand intrusion, Human-robot collaboration, Noise and outliers, Safetyrelated sensor I. INTRODUCTION

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“…Advantages of FMCW-radar are that they provide distance and velocity measurements simultaneously with a high resolution for close ranges, which makes them suitable for proximity perception, collision avoidance, and HRI, e. g. gesture control, in the field of robotics. In [92], a simulation ©2021 IEEE. Personal use of this material is permitted.…”

Section: Radarmentioning

confidence: 99%

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

Navarro,

Mühlbacher-Karrer,

Alagi

et al. 2021

Preprint

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Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as in remote locations in space and underwater. In this survey paper, we cover the developments of this field from the early days up to the present, with a focus on human-centered robotics.Here, proximity sensors are typically deployed in two scenarios: first, on the exterior of manipulator arms to support safety and interaction functionality, and second, on the inside of grippers or hands to support grasping and exploration. Starting from this observation, we propose a categorization for the approaches found in the literature. To provide a basis for understanding these approaches, we devote effort to present the technologies and different measuring principles that were developed over the years, also providing a summary in form of a table. Then, we show the diversity of applications that have been presented in the literature. Finally, we give an overview of the most important trends that will shape the future of this domain.

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Radar Sensors in Collaborative Robotics: Fast Simulation and Experimental Validation

Cited by 20 publications

References 28 publications

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

Detection Error Contaminated by Outliers to Classify Density Profiles Dependent on the Relative Speed Between a MIMO Sensor and a Human Hand

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

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