Simulation of one effective human-robot cooperation method based on kinect sensor and uncalibrated visual servoing

Human-robot interactions (HRIs) have attracted more and more attentions during the past decades for fast and conveniently introducing robot into human daily life. In this paper, one new human-robot cooperation method is developed, which falls in between full human control and full robot autonomy. The human operator is in charge of the main operation and robot autonomy is gradually added to support the execution of the operator's intent. The proposed cooperation method allows the robot to accomplish tasks effectively with the help of human. The effectiveness of the method is verified by experiments, which are based on the Microsoft Kinect Sensor© and the Virtual Robot Experimentation Platform©© (V-REP).