Real-time Human Motion Estimation for Human Robot Collaboration
文献类型：会议论文
| 作者 | Zhang YA(张延安)2,3 ; Ren HL(任恒乐)2,3; Zou FS(邹风山)1,3; Xu F(徐方)1,3; Jia K(贾凯)1,3; Kang J(康杰)2,3
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| 出版日期 | 2018 |
| 会议日期 | July 19-23, 2018 |
| 会议地点 | Tianjin, China |
| 关键词 | human robot collaboration GMM EM real-time motion estimation minimum jerk |
| 页码 | 552-557 |
| 英文摘要 | In the process of human robot collaboration, safety is of vital importance, especially when the workspaces of human and robot are intersected, and collisions between them should be avoided. To avoid collision accurately, the motion of people must be in charge in real time, and making a reasonable estimate of human motion, so that the robots can make decisions accordingly, and plan their own motion quickly. This paper presents a framework of real-time motion estimation based on human posture which is based on ROS, firstly, the position of human joints is collected through the Kinect, then the gaussian mixture model (GMM) algorithm and EM algorithm are used to cluster and estimate based on the collected coordinate points, and adding labels to each category, which can help get the sequence of the joint, and realize the function of motion estimation. To guarantee the safety of people, this paper also discusses the motion estimation method of human motion trajectory mutation, which avoids the collision in case of emergency. Finally, the experimental results show that the presented framework of real-time motion estimation can describe the human body's movement accurately and make an accurate prediction, not only ensuring the human security, and it's of great significance in improving the production efficiency. |
| 源文献作者 | IEEE Robotics & Automation Society |
| 产权排序 | 1 |
| 会议录 | Proceedings of 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 2379-7711 |
| ISBN号 | 978-1-5386-7056-9 |
| WOS记录号 | WOS:000468941800097 |
| 源URL | [http://ir.sia.cn/handle/173321/24682]  |
| 专题 | 沈阳自动化研究所_其他 |
| 通讯作者 | Kang J(康杰) |
| 作者单位 | 1.Shenyang SIASUN Robot & Automation Co., LTD., China, Shenyang 110168, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Zhang YA,Ren HL,Zou FS,et al. Real-time Human Motion Estimation for Human Robot Collaboration[C]. 见:. Tianjin, China. July 19-23, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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