Detection of a human approaching to maintain a safety in human-robot cooperation

This paper gives a detection method of a human who approaches around a robot and thus to maintain a safety in human-robot cooperation job. Since a human and a robot share the working space in a configuration of human-robot cooperation, a safety issue should be posed as a necessity. Thus, safety actions should be taken when a human approaches in the vicinity of a robot. To do this, objects will be detected and differentiated into moving ones and not. Also humans and things will be differentiated using some properties.