Sakmongkon Chumkamon, Kota Kawamoto, Umaporn Yokkampon, Eiji Hayashi
Kyushu Institute of Technology, Japan
pp. 2-6
ABSTRACT
Autonomous robots in human-robot interaction (HRI) recently are becoming part of human life as the number of services or personal robots increasingly used in our home. In order to fulfill the gap of HRI merit, we would like to propose a system of the autonomous robot motion and grasping creation for assisting the disabled person such as the blind people for handover tasks to help blind people in pick and place tasks. In this paper, we develop the robot motion to receive the object by handing over from the blindfold human to represent the blindness. To determine the target of the object and human hand, we implement the 6DOF pose detection using a point cloud and hand detection using the Single Shot Detection model in Deep learning for planning motion using 9DOF arm robot with hand. We finally experiment and evaluate the tasks from blindfold-robot handover tasks.
ARTICLE INFO
Article History
Received 11 November 2019
Accepted 06 June 2020
Keywords
Factory automation
Motion planning
Human-Robot interaction
Kyushu Institute of Technology, Japan
pp. 2-6
ABSTRACT
Autonomous robots in human-robot interaction (HRI) recently are becoming part of human life as the number of services or personal robots increasingly used in our home. In order to fulfill the gap of HRI merit, we would like to propose a system of the autonomous robot motion and grasping creation for assisting the disabled person such as the blind people for handover tasks to help blind people in pick and place tasks. In this paper, we develop the robot motion to receive the object by handing over from the blindfold human to represent the blindness. To determine the target of the object and human hand, we implement the 6DOF pose detection using a point cloud and hand detection using the Single Shot Detection model in Deep learning for planning motion using 9DOF arm robot with hand. We finally experiment and evaluate the tasks from blindfold-robot handover tasks.
ARTICLE INFO
Article History
Received 11 November 2019
Accepted 06 June 2020
Keywords
Factory automation
Motion planning
Human-Robot interaction
JAALR1101
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