Abstract
The purpose of this study is human-robot collision avoidance in passing by each other. We propose a recognition method for a human movement for collision avoidance, using a Kinect sensor. The method analyzes the human movement from the human's speed, position and posture. The robot recognizes the human's position from his/her waist position. The human's speed is calculated from the difference of his/her positions per unit of time. To recognize the human's walking direction, we used the difference of distances from the robot to both of his/her shoulders. For example, when the right shoulder is nearer to the robot than the left shoulder, the human is recognized to face to left. By applying this method to the robot system, the robot successfully recognized the human movement and passed by him/her.
