Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 54, Issue 1, Pages 1-12Publisher
ELSEVIER
DOI: 10.1016/j.robot.2005.10.005
Keywords
human-robot interactions; robotic safety; safety level estimation; on-line trajectory planning
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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 a provably stable, fast response 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 show the efficacy of this approach. (C) 2005 Elsevier B.V. All rights reserved.
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