Collaborative robots are expected to be an integral part of driving the fourth industrial revolution that is soon expected to happen. In human-robot collaboration, the robot and a human share a common workspace and work on a common task. Here the safety of a human working with the robot is of utmost importance. A collaborative robot usually consists of various sensors to ensure the safety of a human working with the robot. This research mainly focuses on establishing a safe environment for a human working alongside a robot by mounting an FMCW radar as an extrinsic sensor, through which the workspace of the robot is monitored. A customized tracking algorithm is developed for the sensor used in this study by including a dynamically varying gating threshold, and information about consecutive missed detections to track and localize the human around the workspace of the robot. The performance of the proposed system in successfully establishing a safe human-robot collaboration is examined across a few scenarios that arise when a single human operator is working alongside a robot, with the radar operating in different modes. An OptiTrack Motion Capture System is used as ground truth to validate the efficacy of the proposed system.
Electrical Engineering (MS)
Department, Program, or Center
Electrical Engineering (KGCOE)
Bhoopasamudram Krishna, Shravan, "Experimental analysis of using radar as an extrinsic sensor for human-robot collaboration" (2021). Thesis. Rochester Institute of Technology. Accessed from
RIT – Main Campus