Asymmetric Velocity Moderation for human-safe robot control

Gustavo Alfonso Garcia Ricardez, Akihiko Yamaguchi, Jun Takamatsu, Tsukasa Ogasawara

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


With the increasing physical proximity of human-robot interaction, ensuring that robots do not harm surrounding humans has become crucial. Therefore, we propose asymmetric velocity moderation as a low-level controller for robotic systems to enforce human-safe motions. While our method prioritizes human safety, it also maintains the robots efficiency. Our proposed method restricts the robots speed according to (1) the displacement vector between human and robot, and (2) the robots velocity vector. That is to say, both the distance and the relative direction of movement are taken into account to restrict the robots motion. Through real-robot and simulation experiments using simplified HRI scenarios and dangerous situations, we demonstrate that our method is able to maintain the robots efficiency without undermining human safety.

Original languageEnglish
Pages (from-to)1111-1125
Number of pages15
JournalAdvanced Robotics
Issue number17
Publication statusPublished - 2015 Sep 2
Externally publishedYes


  • human safety
  • human-robot interaction
  • humanoid robots
  • reactive strategy

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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