Portal de Periódicos da CAPES

Human motion prediction for human-robot collaboration

2017; Elsevier BV; Volume: 44; Linguagem: Inglês

10.1016/j.jmsy.2017.04.009

1878-6642

Hongyi Liu, Lihui Wang,

Robot Manipulation and Learning

In human-robot collaborative manufacturing, industrial robots would work alongside human workers who jointly perform the assigned tasks seamlessly. A human-robot collaborative manufacturing system is more customised and flexible than conventional manufacturing systems. In the area of assembly, a practical human-robot collaborative assembly system should be able to predict a human worker’s intention and assist human during assembly operations. In response to the requirement, this research proposes a new human-robot collaborative system design. The primary focus of the paper is to model product assembly tasks as a sequence of human motions. Existing human motion recognition techniques are applied to recognise the human motions. Hidden Markov model is used in the motion sequence to generate a motion transition probability matrix. Based on the result, human motion prediction becomes possible. The predicted human motions are evaluated and applied in task-level human-robot collaborative assembly.