| Title: | OS6-5 Modeling of Human Actions in a Collaborative Robotic Space Using AR601M Humanoid Robot: Pilot Experiments in the Gazebo Simulator |
|---|---|
| Publication: | ICAROB2023 |
| Volume: | 28 |
| Pages: | 162-165 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2023.OS6-5 |
| Author(s): | Aidar Zagirov, Artem Apurin, Elvira Chebotareva |
| Publication Date: | February 9, 2023 |
| Keywords: | Humanoid robot, Anthropomorphic robot, Gazebo simulator, Collaborative robotics |
| Abstract: | To guarantee a safe human-robot collaboration, a collaborative system development requires a significant amount of real world experiments. Yet, it is critical to avoid injury risks for participants of such experiments. The risks could be reduced by introducing a virtual experiments' stage to detect mistakes in a robot behavior prior to the real world experiments. This paper presents a virtual model of a humanoid robot AR601M in the Gazebo simulator. Unlike the standard human models in the Gazebo, this model allows to simulate the gross and fine motor skills of a human and could be used when performing various human actions in collaborative robotic cells. |
| PDF File: | https://alife-robotics.co.jp/members2023/icarob/data/html/data/OS/OS6/OS6-5.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
(c)2008 Copyright The Regents of ALife Robotics Corporation Ltd. All Rights Reserved.