Related papers: PSM: A Predictive Safety Model for Body Motion Bas…
This paper presents a novel approach to real-time safety monitoring in human-robot collaborative manufacturing environments through a wrist-mounted Inertial Measurement Unit (IMU) system integrated with a Predictive Safety Model (PSM). The…
Predicting future human motion plays a significant role in human-machine interactions for various real-life applications. A unified formulation and multi-order modeling are two critical perspectives for analyzing and representing human…
In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result,…
This paper reports on a data-driven, interaction-aware motion prediction approach for pedestrians in environments cluttered with static obstacles. When navigating in such workspaces shared with humans, robots need accurate motion…
Due to the complexity of the human body and its neuromuscular stabilization, it has been challenging to efficiently and accurately predict human motion and capture posture while being driven. Existing simple models of the seated human body…
Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…
3D human motion prediction is a research area of high significance and a challenge in computer vision. It is useful for the design of many applications including robotics and autonomous driving. Traditionally, autogregressive models have…
Human motion prediction is an important and challenging topic that has promising prospects in efficient and safe human-robot-interaction systems. Currently, the majority of the human motion prediction algorithms are based on deterministic…
Accurate human trajectory prediction is one of the most crucial tasks for autonomous driving, ensuring its safety. Yet, existing models often fail to fully leverage the visual cues that humans subconsciously communicate when navigating the…
Most of the advanced control systems use sensor-based feedback for robust control. Tilt angle estimation is key feedback for many robotics and mechatronics applications in order to stabilize a system. Tilt angle cannot be directly measured…
Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…
We present a Pedestrian Dominance Model (PDM) to identify the dominance characteristics of pedestrians for robot navigation. Through a perception study on a simulated dataset of pedestrians, PDM models the perceived dominance levels of…
Ensuring safe navigation in complex environments requires accurate real-time traversability assessment and understanding of environmental interactions relative to the robot`s capabilities. Traditional methods, which assume simplified…
Human motion prediction has traditionally been framed as a sequence regression problem where models extrapolate future joint coordinates from observed pose histories. While effective over short horizons this approach does not separate…
Continued adoption of agricultural robots postulates the farmer's trust in the reliability, robustness and safety of the new technology. This motivates our work on safety assurance of agricultural robots, particularly their ability to…
This paper presents a novel 3DOF pedestrian trajectory prediction approach for autonomous mobile service robots. While most previously reported methods are based on learning of 2D positions in monocular camera images, our approach uses…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…
Significant trends in the vehicle industry are autonomous driving, micromobility, electrification and the increased use of shared mobility solutions. These new vehicle automation and mobility classes lead to a larger number of occupant…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…