Integration of Camera and Inertial Measurement Unit for Entire Human Robot Interaction Using Machine Learning Algorithm

摘要

Importance of robots in industrial applications is a well-known fact. There are many tasks in industries, which can't be done alone by a robot or alone by a worker. Therefore, there is a need to establish a reliable and safe interaction environment between robots and workers. To do so, some information about the worker should be conveyed to the robot. This article focuses on industrial Human-Robot Interaction. For a safe and efficient Human-Robot Interaction, a robot needs to know about worker's position, posture and gesture. This paper proposes integration of an Inertial Measurement Unit (IMU) and a 3D camera as an image sensor to eliminate each other drawbacks and applies machine learning algorithm to detect postures and gestures of worker. Some experimental results during the interaction with heavy-duty robot will be presented.