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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2407.11560 |
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| _version_ | 1866910529325367296 |
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| author | Duarte, Laura Polito, Michele Gastaldi, Laura Neto, Pedro Pastorelli, Stefano |
| author_facet | Duarte, Laura Polito, Michele Gastaldi, Laura Neto, Pedro Pastorelli, Stefano |
| contents | Real-time robot actuation is one of the main challenges to overcome in human-robot interaction. Most visual sensors are either too slow or their data are too complex to provide meaningful information and low latency input to a robotic system. Data output of an event camera is high-frequency and extremely lightweight, with only 8 bytes per event. To evaluate the hypothesis of using event cameras as data source for a real-time robotic system, the position of a waving hand is acquired from the event data and transmitted to a collaborative robot as a movement command. A total time delay of 110 ms was measured between the original movement and the robot movement, where much of the delay is caused by the robot dynamics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_11560 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Demonstration of real-time event camera to collaborative robot communication Duarte, Laura Polito, Michele Gastaldi, Laura Neto, Pedro Pastorelli, Stefano Robotics Real-time robot actuation is one of the main challenges to overcome in human-robot interaction. Most visual sensors are either too slow or their data are too complex to provide meaningful information and low latency input to a robotic system. Data output of an event camera is high-frequency and extremely lightweight, with only 8 bytes per event. To evaluate the hypothesis of using event cameras as data source for a real-time robotic system, the position of a waving hand is acquired from the event data and transmitted to a collaborative robot as a movement command. A total time delay of 110 ms was measured between the original movement and the robot movement, where much of the delay is caused by the robot dynamics. |
| title | Demonstration of real-time event camera to collaborative robot communication |
| topic | Robotics |
| url | https://arxiv.org/abs/2407.11560 |