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.
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 language | English |
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| Title of host publication | IEEE International Conference on Advanced Robotics 2003 |
| Number of pages | 6 |
| Publication status | Published - 2003 |
| Externally published | Yes |
| Event | International Conference on Advanced Robotics (ICAR) 2003 - Coimbra, Portugal Duration: 30 Jun 2003 → 3 Jul 2003 Conference number: 11th |
Conference
| Conference | International Conference on Advanced Robotics (ICAR) 2003 |
|---|---|
| Abbreviated title | ICAR 2003 |
| Country/Territory | Portugal |
| City | Coimbra |
| Period | 30/06/03 → 3/07/03 |