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Robotics: Science and Systems XVII
Ensuring human safety without unnecessarily impacting task efficiency during human-robot interactive manipulation tasks is a critical challenge. In this work, we formally define human physical safety as collision avoidance or safe impact in the event of a collision. We developed a motion planner that theoretically guarantees safety, with a high probability, under the uncertainty in human dynamic models. Our two-pronged definition of safety is able to unlock the planner's potential in findingdoi:10.15607/rss.2021.xvii.050 fatcat:qlzuf2dhojcyfm3c5asdzjb5nu