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A Human-Robot Collaboration Framework Based on Human Motion Prediction and Task Model in Virtual Environment
Liu HY(刘鸿雁)1,2,3; Qu DK(曲道奎)1,2,4; Xu F(徐方)1,2,4; Zou FS(邹风山)4; Song JL(宋吉来)4; Jia K(贾凯)1,2,4
Department其他
Conference Name9th IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2019
Conference DateJuly 29 - August 2, 2019
Conference PlaceSuzhou, China
Source PublicationProceedings of 9th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems
PublisherIEEE
Publication PlaceNew York
2019
Pages1044-1049
Indexed ByEI ; CPCI(ISTP)
EI Accession number20201908641752
WOS IDWOS:000569550300181
Contribution Rank1
ISSN2379-7711
ISBN978-1-7281-0770-7
AbstractHuman-robot collaboration is one of the hot topics in the field of robotics, which has attracted much recent interests. This paper proposes a human-robot collaboration framework that combines a human motion prediction model with a finite state machine-based task model. A virtual human-robot collaboration environment is created, including a robot model, an interactive object model, and a human body model that can be controlled by a skeleton point tracking algorithm. The experimental results show that the precision and recall based on our model are much higher than those based on the traditional Gaussian mixture model. The task model based on finite state machine can effectively model human-robot collaboration tasks.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/27667
Collection其他
Corresponding AuthorLiu HY(刘鸿雁)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049􀋈China
4.Shenyang SIASUN Robot & Automation Co., Ltd., Shenyang 110168, China
Recommended Citation
GB/T 7714
Liu HY,Qu DK,Xu F,et al. A Human-Robot Collaboration Framework Based on Human Motion Prediction and Task Model in Virtual Environment[C]. New York:IEEE,2019:1044-1049.
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