Show simple item record

dc.contributor.authorKyrkjebø, Erik
dc.date.accessioned2019-02-01T14:39:54Z
dc.date.available2019-02-01T14:39:54Z
dc.date.created2018-03-15T11:36:39Z
dc.date.issued2018
dc.identifier.citationKyrkjebø, E. (2018). Inertial human motion estimation for physical human-robot interaction using an interaction velocity update to reduce drift. Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction - HRI '18 (p. 163-164).nb_NO
dc.identifier.isbn978-1-4503-5615-2
dc.identifier.urihttp://hdl.handle.net/11250/2583544
dc.description.abstractRobots used for physical human-robot interaction (pHRI) are currently advancing from being simple stand-alone manipulators passing tools or parts to human collaborators to becoming autonomous co-workers that continuously share operational control with their human partners. One of the major challenges in this transition is to extend robot capabilities in sensing human motions and behaviour, thereby allowing for more seamless cooperation and ensuring the safety of human partners. Currently, there is a gap between the desire for humans and robots to work closely together and share control of operations, and how robustly we can measure and predict human motions and intentions in pHRI operations. In this paper, we propose to use a set of wireless inertial motion sensors fixed to the body of the human partner to track and estimate human motions, and to use the interaction contact between the robot and the human, as detected by a force/torque (FT) sensor, as an interaction velocity update (IVU) to estimate and reduce drift in the position/orientation estimates. Our hypothesis is that human motion estimates from inertial sensors with an IVU will give sufficiently accurate and robust motion information for safe cooperative pHRI operations.nb_NO
dc.language.isoengnb_NO
dc.publisherACMnb_NO
dc.relation.ispartofProceeding Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction
dc.relation.urihttps://dl.acm.org/citation.cfm?id=3176955
dc.titleInertial Human Motion Estimation for Physical Human-Robot Interaction Using an Interaction Velocity Update to Reduce Driftnb_NO
dc.typeConference objectnb_NO
dc.description.versionpublishedVersionnb_NO
dc.rights.holder© 2018 Copyright held by the owner/author(s).nb_NO
dc.subject.nsiVDP::Matematikk og Naturvitenskap: 400::Informasjons- og kommunikasjonsvitenskap: 420nb_NO
dc.source.pagenumber163-164nb_NO
dc.identifier.doi10.1145/3173386.3176955
dc.identifier.cristin1573064
dc.relation.projectNorges forskningsråd: 280771nb_NO
cristin.unitcode203,12,0,0
cristin.unitnameFakultet for ingeniør- og naturvitskap
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.qualitycode1


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record