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arXiv · 2406.00869

Using 3-D LiDAR Data for Safe Physical Human-Robot Interaction

Sarthak Arora·Karthik Subramanian·Odysseus Adamides·Ferat Sahin
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Abstract

This paper explores the use of 3D lidar in a physical Human-Robot Interaction (pHRI) scenario. To achieve the aforementioned, experiments were conducted to mimic a modern shop-floor environment. Data was collected from a pool of seventeen participants while performing pre-determined tasks in a shared workspace with the robot. To demonstrate an end-to-end case; a perception pipeline was developed that leverages reflectivity, signal, near-infrared, and point-cloud data from a 3-D lidar. This data is then used to perform safety based control whilst satisfying the speed and separation monitoring (SSM) criteria. In order to support the perception pipeline, a state-of-the-art object detection network was leveraged and fine-tuned by transfer learning. An analysis is provided along with results of the perception and the safety based controller. Additionally, this system is compared with the previous work.

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Sarthak Arora, Karthik Subramanian, Odysseus Adamides, Ferat Sahin. 2024-06-02. Using 3-D LiDAR Data for Safe Physical Human-Robot Interaction. https://arxiv.org/abs/2406.00869

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