Robust human position estimation in cooperative robotic cells

Cooperative Robust Estimation Using Layers of Support

We present an approach to the problem of representing images that contain multiple objects or surfaces. Rather than use an edge-based approach to represent the segmentation of a scene, we propose a multi-layer estimation framework which uses support maps to represent the segmentation of the image into homogeneous chunks. This support-based approach can represent objects that are split into disj...

Rehabilitation of a Human Arm Supported by a Robotic Manipulator: A Position/Force Cooperative Control

Problem statement: The assistance of person with limited ability of arm movement is necessary for rehabilitation reasons. This aid is required not only to cover the human performances of the arm in motion and force but also to have a strictly stable dynamics. In this study, we proposed a cooperative system between a disabled arm and a robotic manipulator to reach such objectives. Desired positi...

Robust Human Interaction with Robotic Swarms

Visual Tool Tip Detection and Position Estimation for Robotic Manipulation of Unknown Human Tools

Robots that use human tools could more easily work with people, perform tasks that are important to people, and bene t from human strategies for accomplishing these tasks. For a wide variety of tools and tasks, control of the tool's endpoint is su cient for its use. In this paper we present a straight-forward method for rapidly detecting the endpoint of an unmodeled tool and estimating its posi...

Cooperative Anchor-Free Position Estimation for Hierarchical Wireless Sensor Networks

This paper proposes a distributed algorithm for establishing connectivity and location estimation in cluster-based wireless sensor networks. The algorithm exploits the information flow while coping with distributed signal processing and the requirements of network scalability. Once the estimation procedure and communication protocol are performed, sensor clusters can be merged to establish a si...