Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Robot motion planning: a distributed representation approach
International Journal of Robotics Research
Affective computing
Perceptual user interfaces: perceptual intelligence
Communications of the ACM
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IEEE Transactions on Pattern Analysis and Machine Intelligence
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IEEE Transactions on Pattern Analysis and Machine Intelligence - Graph Algorithms and Computer Vision
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ICMI '02 Proceedings of the 4th IEEE International Conference on Multimodal Interfaces
Safe planning for human-robot interaction
Journal of Robotic Systems
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Design of human symbiotic robot TWENDY-ONE
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A neuro-fuzzy approach for robot system safety
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Noncontact impedance control for redundant manipulators
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Supervision and motion planning for a mobile manipulator interacting with humans
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
On Line - affective state reporting device: a tool for evaluating affective state inference systems
Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
Requirements for Safe Robots: Measurements, Analysis and New Insights
International Journal of Robotics Research
Integration of active and passive compliance control for safe human-robot coexistence
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
The "DLR crash report": towards a standard crash-testing protocol for robot safety - part i: results
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Transitional or partnership human and robot collaboration for automotive assembly
Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop
On making robots understand safety: Embedding injury knowledge into control
International Journal of Robotics Research
Building safer robots: Safety driven control
International Journal of Robotics Research
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Safe planning and control is essential to bringing human-robot interaction into common experience. This paper presents an integrated human驴robot interaction strategy that ensures the safety of the human participant through a coordinated suite of safety strategies that are selected and implemented to anticipate and respond to varying time horizons for potential hazards and varying expected levels of interaction with the user. The proposed planning and control strategies are based on explicit measures of danger during interaction. The level of danger is estimated based on factors influencing the impact force during a human-robot collision, such as the effective robot inertia, the relative velocity and the distance between the robot and the human.A second key requirement for improving safety is the ability of the robot to perceive its environment, and more specifically, human behavior and reaction to robot movements. This paper also proposes and demonstrates the use of human monitoring information based on vision and physiological sensors to further improve the safety of the human robot interaction. A methodology for integrating sensor-based information about the user's position and physiological reaction to the robot into medium and short-term safety strategies is presented. This methodology is verified through a series of experimental test cases where a human and an articulated robot respond to each other based on the human's physical and physiological behavior.