A Practical and Effective Layout for a Safe Human-Robot Collaborative Assembly Task Article Swipe
Leonardo Sabatino Scimmi
,
Matteo Melchiorre
,
Mario Troise
,
Stefano Mauro
,
Stefano Pastorelli
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.3390/app11041763
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.3390/app11041763
This work describes a layout to carry out a demonstrative assembly task, during which a collaborative robot performs pick-and-place tasks to supply an operator the parts that he/she has to assemble. In this scenario, the robot and operator share the workspace and a real time collision avoidance algorithm is implemented to modify the planned trajectories of the robot avoiding any collision with the human worker. The movements of the operator are tracked by two Microsoft Kinect v2 sensors to overcome problems related with occlusions and poor perception of a single camera. The data obtained by the two Kinect sensors are combined and then given as input to the collision avoidance algorithm. The experimental results show the effectiveness of the collision avoidance algorithm and the significant gain in terms of task times that the highest level of human-robot collaboration can bring.
Related Topics
Concepts
Collision avoidance
Task (project management)
Robot
Computer science
Workspace
Operator (biology)
Computer vision
Artificial intelligence
Collision
Simulation
Human–computer interaction
Real-time computing
Engineering
Computer security
Transcription factor
Repressor
Systems engineering
Gene
Biochemistry
Chemistry
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/app11041763
- https://www.mdpi.com/2076-3417/11/4/1763/pdf?version=1613557057
- OA Status
- gold
- Cited By
- 44
- References
- 35
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3132751860
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W3132751860Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/app11041763Digital Object Identifier
- Title
-
A Practical and Effective Layout for a Safe Human-Robot Collaborative Assembly TaskWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2021Year of publication
- Publication date
-
2021-02-17Full publication date if available
- Authors
-
Leonardo Sabatino Scimmi, Matteo Melchiorre, Mario Troise, Stefano Mauro, Stefano PastorelliList of authors in order
- Landing page
-
https://doi.org/10.3390/app11041763Publisher landing page
- PDF URL
-
https://www.mdpi.com/2076-3417/11/4/1763/pdf?version=1613557057Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://www.mdpi.com/2076-3417/11/4/1763/pdf?version=1613557057Direct OA link when available
- Concepts
-
Collision avoidance, Task (project management), Robot, Computer science, Workspace, Operator (biology), Computer vision, Artificial intelligence, Collision, Simulation, Human–computer interaction, Real-time computing, Engineering, Computer security, Transcription factor, Repressor, Systems engineering, Gene, Biochemistry, ChemistryTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
44Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 4, 2024: 9, 2023: 9, 2022: 14, 2021: 8Per-year citation counts (last 5 years)
- References (count)
-
35Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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