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Safe planning for human-robot interaction
2005
Journal of Robotic Systems
This paper presents a strategy for improving the safety of human-robot interaction by minimizing a danger criterion during the planning stage. This strategy is one part of the overall methodology for safe planning and control in human-robot interaction. The focus application is a hand-off task between an articulated robot and an inexpert human user. Two formulations of the danger criterion are proposed: a criterion assuming independent safety-related factors, and a criterion assuming mutually
doi:10.1002/rob.20073
fatcat:ryhbej7ldve2xovkc5ie2gvpcq