Safe planning for human-robot interaction

Authors:
Dana Kulić;Elizabeth A. Croft
Affiliations:
Department of Mechanical Engineering, University of British Columbia, Vancouver, Canada;Department of Mechanical Engineering, University of British Columbia, Vancouver, Canada
Venue:
Journal of Robotic Systems
Year:
2005

Citing 0
Cited 4

Pre-collision safety strategies for human-robot interaction

Autonomous Robots
Evaluation of affective state estimations using an on-line reporting device during human-robot interactions

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Risk management simulator for low-powered human-collaborative industrial robots

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A methodology for design and appraisal of surgical robotic systems

Robotica

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper presents a strategy for improving the safety of human-robot interaction by minimizing a danger criterion during the planning stage. This strategy is one part of the overall methodology for safe planning and control in human-robot interaction. The focus application is a hand-off task between an articulated robot and an inexpert human user. Two formulations of the danger criterion are proposed: a criterion assuming independent safety-related factors, and a criterion assuming mutually dependent factors. Simulations of the proposed planning strategy are presented for both 2D and 3D robots. The results indicate that a criterion based on scaled mutually dependent factors such as the robot inertia and the human robot distance generates safe, feasible paths for interaction. © 2005 Wiley Periodicals, Inc.