This paper introduces a new superquadric-based human body modeling technique. The model is used as part of an on-line path planning scheme. The path planning scheme utilizes a previously proposed danger evaluation metric in which danger is characterized based on human and nonhuman factors. A new factor that accounts for the human body orientation is introduced and used along with other factors for danger evaluation. A superquadric model of the human is used to determine the values of the factors used for danger evaluation including body orientation. The resulting danger value is then used to direct the search for an alternative robot path in a direction that minimizes the danger. The use of superquadric-based human model for danger evaluation and subsequently path planning provides an accurate and computationally efficient solution. At the same time, the resulting solution guarantees a safe and danger-free path, given the factors used to characterize the danger. The approach exhibits adequate speed of decision making, rendering it potentially suitable for real-time applications involving human-robot interaction. The proposed method is evaluated using a CRS-F3 industrial manipulator through various case studies.
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e-mail: nnajmaei@uwo.ca
e-mail: mkermani@eng.uwo.ca
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November 2010
Research Papers
On Superquadric Human Modeling and Risk Assessment for Safe Planning of Human-Safe Robotic Systems
Nima Najmaei,
Nima Najmaei
Department of Electrical and Computer Engineering,
e-mail: nnajmaei@uwo.ca
University of Western Ontario
, London, ON N6A 3K7, Canada
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Mehrdad R. Kermani
Mehrdad R. Kermani
Department of Electrical and Computer Engineering,
e-mail: mkermani@eng.uwo.ca
University of Western Ontario
, London, ON N6A 3K7, Canada
Search for other works by this author on:
Nima Najmaei
Department of Electrical and Computer Engineering,
University of Western Ontario
, London, ON N6A 3K7, Canadae-mail: nnajmaei@uwo.ca
Mehrdad R. Kermani
Department of Electrical and Computer Engineering,
University of Western Ontario
, London, ON N6A 3K7, Canadae-mail: mkermani@eng.uwo.ca
J. Mechanisms Robotics. Nov 2010, 2(4): 041008 (9 pages)
Published Online: September 30, 2010
Article history
Received:
March 2, 2009
Revised:
July 27, 2010
Online:
September 30, 2010
Published:
September 30, 2010
Citation
Najmaei, N., and Kermani, M. R. (September 30, 2010). "On Superquadric Human Modeling and Risk Assessment for Safe Planning of Human-Safe Robotic Systems." ASME. J. Mechanisms Robotics. November 2010; 2(4): 041008. https://doi.org/10.1115/1.4002345
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