A human recognition system for avoidance of robot accidents

A recognition system for human motion is presented with which robots can autonomously avoid accidents which might be caused by human mistakes. This system is composed of a human position sensor subsystem and a motion monitor subsystem. In the human position sensor subsystem, infrared sensors and ultrasonic ones, respectively, measure human directions and distances. The motion monitor subsystem identifies human positions and obtains human trajectories using an evaluating function. Experimental results demonstrate that this system can completely recognize human motion within a radius of 3.5 m