Journal
SENSORS
Volume 21, Issue 5, Pages -Publisher
MDPI
DOI: 10.3390/s21051571
Keywords
human-robot perception; human-robot collaboration; collision detection; human action recognition; collision avoidance; machine vision; 3D sensors; robot guidance
Funding
- EU H2020 ENCORE Project Energy aware BIM Cloud Platform in a COst-effective Building Renovation Context, European Union's Horizon 2020 research and innovation programme [820434]
- Italian Ministry of University and Research (MIUR)-in National Operative Plan (PON) for Research and Innovation 2014-2020 [ARS01-01031, 1825]
- HD3Flab Project Human Digital Flexible Factory of the Future Laboratory EU ERDF (European Regional Development Fund), Regional Operative Plan (POR) MARCHE Region FESR (Fondo Europeo di Sviluppo Regionale) 2014/2020, AXIS 1, Specific Objective 2, ACTION 2
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The capability of perception is crucial for human-robot interaction in industrial environments. As industrial settings require higher levels of automation to meet fast-paced and cost-effective market demands, robots must be able to sense human presence and intentions to prevent decreases in productivity and safety hazards. Robots with enhanced perception and interaction capabilities will play an increasingly important role in collaborative and cooperative applications within shared industrial spaces.
Perception capability assumes significant importance for human-robot interaction. The forthcoming industrial environments will require a high level of automation to be flexible and adaptive enough to comply with the increasingly faster and low-cost market demands. Autonomous and collaborative robots able to adapt to varying and dynamic conditions of the environment, including the presence of human beings, will have an ever-greater role in this context. However, if the robot is not aware of the human position and intention, a shared workspace between robots and humans may decrease productivity and lead to human safety issues. This paper presents a survey on sensory equipment useful for human detection and action recognition in industrial environments. An overview of different sensors and perception techniques is presented. Various types of robotic systems commonly used in industry, such as fixed-base manipulators, collaborative robots, mobile robots and mobile manipulators, are considered, analyzing the most useful sensors and methods to perceive and react to the presence of human operators in industrial cooperative and collaborative applications. The paper also introduces two proofs of concept, developed by the authors for future collaborative robotic applications that benefit from enhanced capabilities of human perception and interaction. The first one concerns fixed-base collaborative robots, and proposes a solution for human safety in tasks requiring human collision avoidance or moving obstacles detection. The second one proposes a collaborative behavior implementable upon autonomous mobile robots, pursuing assigned tasks within an industrial space shared with human operators.
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