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.

• Type: Journal
• Year: 2006
• Where: RAS
• Authors: Dana Kulic, Elizabeth A. Croft
• Keywords: Human-robot Interaction, Multiple Surrounding Obstacles, RAS 2006, Real-time Trajectory Generation