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RAS
2006

Real-time safety for human-robot interaction

13 years 11 months ago
Real-time safety for human-robot interaction
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 stable motion 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 demonstrate the efficacy of this approach.
Dana Kulic, Elizabeth A. Croft
Added 14 Dec 2010
Updated 14 Dec 2010
Type Journal
Year 2006
Where RAS
Authors Dana Kulic, Elizabeth A. Croft
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