Real-time safety for human-robot interaction

被引：80

作者：

Kulic, D ^{[1
]}

Croft, EA ^{[1
]}

机构：

[1] Univ British Columbia, Dept Mech Engn, Vancouver, BC V6T 1Z4, Canada

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2006年 / 54卷 / 01期

关键词：

human-robot interactions; robotic safety; safety level estimation; on-line trajectory planning;

D O I：

10.1016/j.robot.2005.10.005

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a strategy for ensuring safety during human-robot interaction in real time. A measure of danger during the interaction is explicitly Computed, based on factors affecting the impact force during a potential collision between the human and the robot. This danger index is then used as an input to real-time trajectory generation when the index exceeds a predefined threshold. The danger index is formulated to produce a provably stable, fast response in the presence of multiple surrounding obstacles. A motion strategy to minimize the danger index is developed for articulated multi-degree-of-freedom robots. Simulations and experiments show the efficacy of this approach. (C) 2005 Elsevier B.V. All rights reserved.

引用

页码：1 / 12

页数：12

共 33 条

[21]

Nokata M, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, P1991, DOI 10.1109/ROBOT.2002.1014833

[22]

Traver VJ, 2000, 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, P696, DOI 10.1109/IROS.2000.894685

[23] Noncontact impedance control for redundant manipulators [J].

Tsuji, T ;

Kaneko, M .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS, 1999, 29 (02) :184-193

[24] From biological inspiration toward next-generation manipulators: Manipulator control focused on human tasks [J].

Waarsing, BJW ;

Nuttin, M ;

Van Brussel, H ;

Corteville, B .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS, 2005, 35 (01) :53-65

[25] Human-robot contact in the safeguarding space [J].

Yamada, Y ;

Hirasawa, Y ;

Huang, SY ;

Umetani, Y ;

Suita, K .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 1997, 2 (04) :230-236

[26]

YAMADA Y, 1999, IEEE SYST MAN CYB SM, P1063

[27] A new actuation approach for human friendly robot design [J].

Zinn, M ;

Khatib, O ;

Roth, B .

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, :249-254

[28]

ZINN M, 2002, IARP IEEE RAS JOINT

[29] A neuro-fuzzy approach for robot system safety [J].

Zurada, J ;

Wright, AL ;

Graham, JH .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS, 2001, 31 (01) :49-64

[30]

PT GREY BUMBLEBEE

← 1 2 3 4 →