Browsing by Author "Moughlbay, Amine Abou"
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Item Reliable workspace monitoring in safe human-robot environment(Springer Verlag, 2017) Moughlbay, Amine Abou; Herrero, Héctor; Pacheco, Raquel; Outón, Jose Luis; Sallé, Damien; Lopez-Guede, Jose Manuel; Herrero, Alvaro; Quintian, Hector; Grana, Manuel; Etxaniz, Oier; Corchado, Emilio; Tecnalia Research & Innovation; ROBOTICA_FLEXThe implementation of a reliable vision system for full perception of the human-robot environment is a key issue for the flexible collaborative production industries, especially for the frequently changing applications. The use of such system facilitates the perception and recognition of the human activity, and consequently highly increases the robustness and reactivity of safety strategies in collaborative tasks. This paper presents an implementation of several techniques for workspace monitoring in collaborative human-robot applications. A reliable perception of the overall environment is performed to generate a consistent point cloud which is used for human detection and tracking. Additionally, safety strategies on the robotic system (reduced velocity, emergency stop, .) are activated when the human-robot distance approaches predefined security thresholds.Item Skill based robot programming: Assembly, vision and Workspace Monitoring skill interaction(2017-09-13) Herrero, Héctor; Moughlbay, Amine Abou; Outón, Jose Luis; Sallé, Damien; de Ipiña, Karmele López; ROBOTICA_FLEX; Tecnalia Research & InnovationThe skill based programming eases the robot program generation, its similarity to human behavior allows non expert operators maintaining, adapting or creating robotic applications. The use of skills requires different approaches for the interaction between them, especially for sharing information. The presented approach combines the skill based programming using a state machine for low level robot execution management. With the proposed framework the interaction and communication between skills is improved. The work presented below is focused on the use of vision skills and safe Workspace Monitoring, for addressing a real use case where interaction with robot motions (organized as assembly skills) is required.