Browsing by Author "Pacheco, Raquel"
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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 Skills for vision-based applications in robotics application to aeronautics assembly pilot station(Institute of Electrical and Electronics Engineers Inc., 2015-10-30) Herrero, Hector; Pacheco, Raquel; Alberdi, Nerea; Rumayor, Mikel; Salle, Damien; Depina, Karmele Lopez; Grana, Manuel; Corchado, Emilio; Fraile-Ardanuy, Jesus; Quintian, Hector; Kakarountas, Athanasios; Haase, Jan; Debono, Carl James; ROBOTICA_FLEXThis paper presents an approach which allows solving different computer vision problems organized in skills to execute them in an industrial robot. Vision applications are generally very specific and very dependent of the problem. The the use of skill-based programming is attempting to ease the use of vision in robotics field. Through this abstraction level, vision skills can be reused in different robots and applications. To demonstrate it, two skill are presented: 3D CAD Matching and feature detection. Additionaly the integration of these skills in ROS is presented and demonstrated in an aeronautics assembly industrial application.