抄録
The purpose of this study is human-robot collision avoidance in passing by each other. In this paper, we considered that improvement of human movement direction recognition and the control of collision avoidance. We propose a recognition method for a human movement for collision avoidance, using a Kinect sensor. The method analyzes the direction of the human movement from the human's body angle and movement velocity of right or left direction. To recognize the human's walking direction, we compare threshold with body angle and velocity of right or left direction. For example, when the body angle and velocity of right or left direction is bigger than the threshold, the state of the human is estimated to face to right. By applying this method to the robot system, the robot successfully recognized the direction of human movement.
