Abstract
This paper presents a strategy for improving the safety of human-robot interaction for articulated robots by minimizing a danger criterion during the planning stage. Two formulations of the danger criterion are proposed: a criterion assuming independent factors, and a criterion assuming mutually dependent factors. Simulations of the proposed planning, strategy are presented for both 2D and 3D robots.
Original language | English |
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Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
Pages | 1882-1887 |
Number of pages | 6 |
Volume | 2004 |
Edition | 2 |
Publication status | Published - 5 Jul 2004 |
Externally published | Yes |
Event | IEEE International Conference on Robotics and Automation 2004 - New Orleans, United States of America Duration: 26 Apr 2004 → 1 May 2004 https://ieeexplore.ieee.org/xpl/conhome/9126/proceeding?isnumber=29020 (Proceedings) |
Publication series
Name | Proceedings - IEEE International Conference on Robotics and Automation |
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ISSN (Print) | 1050-4729 |
Conference
Conference | IEEE International Conference on Robotics and Automation 2004 |
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Abbreviated title | ICRA 2004 |
Country/Territory | United States of America |
City | New Orleans |
Period | 26/04/04 → 1/05/04 |
Internet address |
Keywords
- Human-robot interaction
- Potential field functions
- Robot motion planning
- Robot safety