Year: 2019
Type: dissertation
Abstract: This work presents the development of a perception pipeline to passively track the partial human ground pose in the context of human robot collaboration. The main motivation behind this work is to provide a speed and separation monitoring based safety controller with an estimate of human position on the factory floor. Three time-of-flight sensing rings affixed to the major links of an industrial manipulator are used to implement the aforementioned. Along with a convolutional neural network based unknown obstacle detection strategy, the ground position of the human operator is estimated and tracked using sparse 3-D point inputs. Experiments to analyze the viability of our approach are presented in depth in the further sections which involve real-world and synthetic datasets. Ultimately, it is shown that the sensing system can provide reliable information intermittently and can be used for higher level perception schemes.
Author: Sarthak Arora
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W3004373140