Pixel-parallel collision detection for safe human-robot-coexistence

Summary

Recently, the need for a robot that collaborates with humans has increased not only in the industrial settings but also in home use. It is certain that the opportunities that robots associates with humans increase from now on, and human safety becomes a big problem. In our research, we propose a collision avoidance system in which high-speed camera heads are placed on a robot manipulator. The manipulator can avoid the fast moving obstacle. The arm link is controlled so that the obstacle describes a spiral on the image plane, and the trajectory of the end effector describes a spiral.

Avoidance trajectory

Movies

References

1. Sho Morikawa, Akio Namiki, Masatoshi Ishikawa : Realtime collision avoidance with light-weight high-speed vision systems, Proceedings of the 24th Annual Conference of the Robotics Society of Japan, 2B18, 2006.
2. Sho Morikawa, Akio Namiki, Masatoshi Ishikawa : Realtime collision avoidance using high-speed visual servoing, Proceedings of the 7th SICE System Integration Division Annual Conference(SI2006), 2H1-4 (pp728-729)
3. Sho Morikawa, Taku Senoo, Akio Namiki, Masatoshi Ishikawa : Realtime collision avoidance using a robot manipulator with light-weight small high-speed vision systems, 2007 IEEE International Conference on Robotics and Automation (ICRA'07) (Roma, 2007.4.11) / Proceedings, pp.794-799

Related work

• Emergency stop using a high-speed visions for safe human-robot-coexistence