Strategies for safety in human robot interaction

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Abstract

This paper presents a hierarchical path planning and control strategy for ensuring safety during a human-robot interaction. At the planning stage, a two-step process is used where first the danger of the interaction is minimized,
followed by a goal seeking optimization. This approach reduces the likelihood of encountering local minima due to conflicts between reducing danger and a demanded interaction task. At the control stage, the human intent signal is evaluated at every step to ensure safe operation of the robot. In initial simulation work, the controller drives the robot away from the planned interaction if danger is
identified, and then allows the planned interaction to resume once the danger has passed.
Original languageEnglish
Title of host publicationIEEE International Conference on Advanced Robotics 2003
Number of pages6
Publication statusPublished - 2003
Externally publishedYes
EventInternational Conference on Advanced Robotics (ICAR) 2003 - Coimbra, Portugal
Duration: 30 Jun 20033 Jul 2003

Conference

ConferenceInternational Conference on Advanced Robotics (ICAR) 2003
Abbreviated titleICAR 2003
CountryPortugal
CityCoimbra
Period30/06/033/07/03

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