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(a) Overview ofhardware setup (b) Human-robot collaboration tobuild aTangram puzzle
Figure1.Overviewofhardwaresetupforpuzzle solving
(e.g., industrial applications, entertainment applications, service applications, assistive technology
applications). Concerning the applications of choice, it was decided that at least one ”set of use
cases” should be chosen for which it was possible to carry them throughout all possible categories
(A to D plus optionally E and F) by continuously extending and adding ”human-robot collaboration
features”. Theusecasesetofchoicefor thispurpose is tosolveaTangrampuzzlewhile therobotand
thehumanarecooperating toward thegoal (seeFigure1(b)). Furtherusecases, incollaborationwith
industrialpartners, address industrialapplicationssuchashuman-robot jointassemblyandinspection
tasks.
4. AddressedResearchChallenges
4.1. DynamicWorkingEnvironmentMonitoringandSafety
In order to perform a safe and reliable collaborative task in complex and dynamic environments, a
robust monitoring system, which provides a real-time status of the target area, is required. Methods
from2D[14]and3D[24]quality inspection (andcombined [29]) canbeapplied to robotic scenarios
as long as sensors are lightweight and compact enough to be used on moving parts of the robot. 2D
inspectionissufficient incaseofclose-to-planarobjects. 3Dshapecomparisone.g.,byIterativeClos-
est Point (ICP) [23], is a robust method in industrial inspection for irregular objects. Texture-based
methods are complementary in case of smooth 3D surfaces that do not allow a precise 3D alignment
due to shape ambiguities [5]. One major current application for such techniques is the inspection of
correct 3D shape, the automatic planning of grasping is still a very rare application under real pro-
duction conditions. Within CollRob, we use various optical sensors for localization, detection, 3D
reconstruction, and depth estimation. The overall system has to cope with challenges such as sub-
millimeter position accuracy for robot grasping, occlusion, surface reflections and complex shapes.
131
Proceedings
OAGM & ARW Joint Workshop 2016 on "Computer Vision and Robotics“
- Title
- Proceedings
- Subtitle
- OAGM & ARW Joint Workshop 2016 on "Computer Vision and Robotics“
- Authors
- Peter M. Roth
- Kurt Niel
- Publisher
- Verlag der Technischen Universität Graz
- Location
- Wels
- Date
- 2017
- Language
- English
- License
- CC BY 4.0
- ISBN
- 978-3-85125-527-0
- Size
- 21.0 x 29.7 cm
- Pages
- 248
- Keywords
- Tagungsband
- Categories
- International
- Tagungsbände