Abstract
Human-robot hand-over tasks are widely used in various scenarios and have become a research hotspot for researchers. In order to make the robot and the user perform efficient, smooth and safe delivery in the unstructured scene, this paper designs and builds a human-robot hand-over system in unstructured scenarios. First, use the Kinect camera to obtain the color and depth information in the scene, and then send the image to the trained YOLOv5 rotating target network to obtain the position and oritention of the object in the human hand, and then realize the position tracking of the object in the human hand through the proposed servo control strategy. Finally, the compliant hand-over between the human hand and the robot is achieved by impedance control in the interaction stage. Based on this system, experiments are carried out on the built human-robot hand-over platform. The experimental results show that the human-robot hand-over system proposed in this paper can deliver efficiently, safely and compliantly in unstructured scenarios.
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Acknowledgment
This research was supported by the Key Research and Development Projects in Jilin Provincial Department of science and technology “Large Workpiece Compliant Assembly Docking Robot with Autonomous Positioning and Navigation” (Grant No. 20200401130GX).
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Zhang, H., Han, X., Ni, T., Huang, L., Liang, H. (2023). Research on Robot Human-Robot Hand-Over System Based on YOLOv5. In: Wang, Y., Yu, T., Wang, K. (eds) Advanced Manufacturing and Automation XII. IWAMA 2022. Lecture Notes in Electrical Engineering, vol 994. Springer, Singapore. https://doi.org/10.1007/978-981-19-9338-1_37
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DOI: https://doi.org/10.1007/978-981-19-9338-1_37
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