LAUSR

Abstract Human-Robot Collaboration (HRC), which enables a workspace where human and robot can dynamically and safely collaborate for improved operational efficiency, has been identified as a key element in smart manufacturing. Human action recognition plays a key role in the realization of HRC, as it helps identify current human action and provides the basis for future action prediction and robot planning. While Deep Learning (DL) has demonstrated great potential in advancing human action recognition, effectively leveraging the temporal information of human motions to improve the accuracy and robustness of action recognition has remained as a challenge. Furthermore, it is often difficult to obtain a large volume of data for DL network training and optimization, due to operational constraints in a realistic manufacturing setting. This paper presents an integrated method to address these two challenges, based on the optical flow and convolutional neural network (CNN)-based transfer learning. Specifically, optical flow images, which encode the temporal information of human motion, are extracted and serve as the input to a two-stream CNN structure for simultaneous parsing of spatial-temporal information of human motion. Subsequently, transfer learning is investigated to transfer the feature extraction capability of a pretrained CNN to manufacturing scenarios. Evaluation using engine block assembly confirmed the effectiveness of the developed method.