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Towards Safe Human-Robot Interaction [chapter]

Elena Corina Grigore, Kerstin Eder, Alexander Lenz, Sergey Skachek, Anthony G. Pipe, Chris Melhuish
2011 Lecture Notes in Computer Science  
This paper describes the setup of an environment to investigate safety and liveness aspects in the context of human-robot interaction.  ...  We present first insights into setting up and testing a humanrobot interaction system in which the role of the robot is that of serving drinks to a human.  ...  This paper describes the setup of an environment to investigate safety and liveness aspects in the context of close Human-Robot Interaction (HRI), i.e.  ... 
doi:10.1007/978-3-642-23232-9_29 fatcat:ogwm6i4imvbytm7p7aesc4mik4

Toward Safe and Efficient Human-Robot Interaction via Behavior-Driven Danger Signaling [article]

Mehdi Hosseinzadeh, Bruno Sinopoli, Aaron F. Bobick
2021 arXiv   pre-print
This paper introduces the notion of danger awareness in the context of Human-Robot Interaction (HRI), which decodes whether a human is aware of the existence of the robot, and illuminates whether the human  ...  A predictive planning scheme, coupled with the predictive human model, is also proposed to provide an efficient and Probabilistically safe plan for the robot.  ...  INTRODUCTION The aim in Human-Robot Interaction (HRI) is to enable efficient and safe interaction among all participating agents.  ... 
arXiv:2102.05144v2 fatcat:2v6ehvsosfhtpgbcqcusbtitca

Safe Motion Planning for Human-Robot Interaction: Design and Experiments [chapter]

Dana Kulic, Elizabeth Croft
2006 Mobile Robots: towards New Applications  
In industrial applications, the safety of human-robot interaction is effected by isolating the robot from the human (Gaskill and Went, 1996; Corke, 1999; RIA/ANSI, 1999) .  ...  However, safe planning is important for any interaction that involves motion in a human environment, especially those that may contain additional obstacles.  ...  The design of safe planning and control strategies can be divided into three key components: safe planning, human interaction monitoring, and safe control (Kulić and Croft, 2003) .  ... 
doi:10.5772/4689 fatcat:r3c4fph76fcfney2thcntqd37m

Toward safe close-proximity human-robot interaction with standard industrial robots

Przemyslaw A. Lasota, Gregory F. Rossano, Julie A. Shah
2014 2014 IEEE International Conference on Automation Science and Engineering (CASE)  
However, as we move toward enabling humans and robots to interact at ever-decreasing distances of separation, effective safety technologies must also be developed.  ...  standard industrial robots into human-safe platforms.  ...  In the context of human-robot interaction, this means ensuring that human-robot interaction does not cause excessive stress and discomfort for extended periods of time.  ... 
doi:10.1109/coase.2014.6899348 dblp:conf/case/LasotaRS14 fatcat:ca6lipaxpnb6tf464orxxe7cnm

Toward safe separation distance monitoring from RGB-D sensors in human-robot interaction [article]

P. Svarny, Z. Straka, M. Hoffmann
2018 arXiv   pre-print
The interaction of humans and robots in less constrained environments gains a lot of attention lately and the safety of such interaction is of utmost importance.  ...  The operation of this framework is illustrated on a Nao humanoid robot interacting with a human partner perceived by a RealSense RGB-D sensor and employing the OpenPose human skeleton estimation algorithm  ...  Haddadin and Croft [3] provide a recent survey of all the aspects of physical Human-Robot Interaction (pHRI).  ... 
arXiv:1810.04953v1 fatcat:f5wobxawgfe77egnqtikv5ov6m

Towards safe physical human-robot interaction: An online optimal control scheme

Sholeh Norouzzadeh, Tamara Lorenz, Sandra Hirche
2012 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication  
To achieve this objective, one of the main issues is to ensure safe and comfortable physical human-robot interaction (pHRI). In this paper, we tackle the safety problem at the control level.  ...  Operating in the proximity of humans has been a long-term challenge in robotics research.  ...  acceptance threshold for safe interaction.  ... 
doi:10.1109/roman.2012.6343801 dblp:conf/ro-man/NorouzzadehLH12 fatcat:4jglxkaizjhjnjupurlnrjemga

Towards Safe Human-Robot Interaction: Joint Impedance Control of a New Teleoperated Robot Arm

Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi
2007 RO-MAN 2007 - The 16th IEEE International Symposium on Robot and Human Interactive Communication  
The experimental results of joint impedance control show that proposed strategy provides safe interaction of entire structure of robot arm with human beings and ensures the collision avoidance.  ...  Thus, the whole structure of the manipulator can safely interact with unstructured environment. In the paper, we describe detailed design procedure of the 4-DOF robot arm and optical torque sensors.  ...  Moreover, teleoperated robot interacts with human in various cooperative tasks. In these applications, the force sensing ability is a crucial aspect of safe interaction in the environment.  ... 
doi:10.1109/roman.2007.4415205 dblp:conf/ro-man/TsetserukouTKKT07 fatcat:a5afkk7gefef7goh27zmsv4k6u

A new Approach towards Safe Human-Robot-Interaction in Highly Flexible Warehouses

Jana Jost, Thomas Kirks, Preity Gupta, Dennis Lünsch, Jonas Stenzel
2018 Zenodo  
plans and provides collision-free paths for humans and robots.  ...  Nowadays, production systems and warehouses still lack human-robot collaboration.  ...  These new forms of human robot interaction integrate CPS and humans in socio-technical systems [1] , where robots adapt to human workers in addition to enable safely working together with each other.  ... 
doi:10.5281/zenodo.3906179 fatcat:elid4wki5valzpalvu6rjujcdi

Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction

Kwan Suk Kim, Travis Llado, Luis Sentis
2015 Autonomous Robots  
A proof of concept experiment presents various parts of the mobile platform, including the wheels, colliding safely with humans.  ...  In contrast, when a robot collides while in motion its controller knows the trajectory where it came from. As such a simple safe response would be to reverse direction towards that trajectory.  ...  A four-wheel robotic base with azimuth joint torque sensors [6] has been able to respond to human push interactions, but only when its wheels are properly aligned with respect to direction of the collision  ... 
doi:10.1007/s10514-015-9464-x fatcat:qa6ysoknybaupn6v54vm6wlcwa

Full-Body Collision Detection and Reaction with Omnidirectional Mobile Platforms: A Step Towards Safe Human-Robot Interaction [article]

Kwan Suk Kim, Travis Llado, Luis Sentis
2015 arXiv   pre-print
A proof of concept experiment presents various parts of the mobile platform, including the wheels, colliding safely with humans.  ...  This study suggests that the Head Injury Criterion is not well suited for studying injuries resulting from human-robot interaction.  ...  The robot moves towards the dummy and hits it with a velocity of 0.22m/s.  ... 
arXiv:1501.05007v1 fatcat:fe7iecel4bghrjzmn722mpcwya

Towards safe human-robot interaction in robotic cells: An approach based on visual tracking and intention estimation

Luca Bascetta, Gianni Ferretti, Paolo Rocco, Hakan Ardo, Herman Bruyninckx, Eric Demeester, Enrico Di Lello
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Removing the safety fences that separate humans and robots, to allow for an effective human-robot interaction, requires innovative safety control systems.  ...  An advanced functionality of a safety controller might be to detect the presence of humans entering the robotic cell and to estimate their intention, in order to enforce an effective safety reaction.  ...  Consider, for example, the coexistence experiment (first row of Fig. 4, and Fig. 5) , i.e. the one in which the human walks towards the interaction area at the bottom left corner of the robotic cell.  ... 
doi:10.1109/iros.2011.6048287 fatcat:hsvj2lgbkzfp5eeb67tlsyyodq

Towards Safety in Human Robot Interaction

Guido Herrmann, Chris Melhuish
2010 International Journal of Social Robotics  
The key hypothesis is that safe interaction between human and robot can be engineered physically and cognitively for joint physical tasks requiring co-operative manipulation of real world objects.  ...  In service and social robotics, a major focus has therefore to be safe and reliable operation.  ...  Acknowledgements Presenting the wide range of topics and interests on Safety in Human Robot Interaction in the International Journal of Social Robotics has been a great pleasure to the guest editors.  ... 
doi:10.1007/s12369-010-0061-z fatcat:jcncxws2lbckfoluz3qilxonbq

A Survey of Methods for Safe Human-Robot Interaction

Przemyslaw A. Lasota, Terrence Fong, Julie A. Shah
2017 Foundations and Trends in Robotics  
The International Organization for Standardization (ISO) has been working toward releasing documents that specify how best to maintain safety during interaction between humans and industrial robots.  ...  Goals and Scope The main goal of this work is to organize and summarize the large body of research related to facilitation of safe human-robot interaction.  ... 
doi:10.1561/2300000052 fatcat:pkjulannzzenpmmofs3rrptvdq

Real-time safety for human–robot interaction

Dana Kulić, Elizabeth A. Croft
2006 Robotics and Autonomous Systems  
Index Terms-human-robot interaction, safety, danger index I.  ...  This paper presents a strategy for ensuring safety during human-robot interaction in real time.  ...  In unstructured environments, mechanical design alone is not adequate to ensure safe and human friendly interaction.  ... 
doi:10.1016/j.robot.2005.10.005 fatcat:47q4u7s2jvbpxgoueeoou4besu

Ergonomics in the Industry 4.0: Collaborative Robots

Luis Miguel Munoz
2017 Journal of Ergonomics  
Another measure used in the human-robot collaboration is the confidence of the person towards the robot that determines the degree of autonomy of the robots, their efficiency and workload [5, 6] .  ...  Modeling and simulation software of the human body is used to predict the interaction efforts that appear between human and robot, given the complexity of the kinematics of the human body.  ...  Another measure used in the human-robot collaboration is the confidence of the person towards the robot that determines the degree of autonomy of the robots, their efficiency and workload [5, 6] .  ... 
doi:10.4172/2165-7556.1000e173 fatcat:dkvalp7d3bbmdaahlxtlgv7jle
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