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In this paper, we propose a system that performs human–robot interaction in order to carry out a cooperation between a robot and a person. The system is based on people detection and gesture recognition. Human beings are detected using a technique that combines face and legs detection from data provided by a camera and a laser range finder. Besides that the gesture recognition method allows the person...
In the last years there has been an increasing interest in developing robots that are able to perform tasks cooperatively with humans instead of replacing them, for instance a robot which works as a guide in a museum. Until now the developed service guide robots only navigates through the aisles of the museums without concerning the people's movement. Then, the main purpose of the work presented in...
In the last years there has been an increasing interest in developing robots that are able to perform tasks cooperatively with humans instead of replacing them, for instance a robot which works as a guide in a museum. Until now the developed service guide robots only navigates through the aisles of the museums without concerning the people's movement. Then, the main purpose of the work presented in...
This paper addresses the human-robot cooperation problem on object transportation tasks, particularly when a human grasps one side of the object while the other extremity is carried by the robot. The robot is equipped with a pair of infrared sensors used to obtain the load's status and apply it as a feedback to accomplish a specific task. A nonlinear controller is proposed to allow the robot to perform...
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