Human Safety and Efficiency of a Robot Controlled by Asymmetric Velocity Moderation

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Maintaining human safety during HRI is key in the integration of the humanoids in our daily lives. With this in mind, we previously proposed Asymmetric Velocity Moderation (AVM) as a way of restricting the robot speed when interacting with humans. With AVM, the robot reduces its speed according to distance and the direction of the motion. In this paper, we propose a new way of calculating the speed restriction which solves a problem of previous proposals where human safety was sacrificed due to unexpected lesser restriction. We focus on a detailed investigation of how AVM treats situations where a humanoid could endanger a human and test it using different calculation methods of the speed restriction. Finally, we evaluate the efficiency of the humanoid HRP-4 in terms of task completion time by performing simulation experiments in simple HRI scenarios.

Original languageEnglish
Title of host publicationHRI 2015 - Proceedings of the 2015 ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts
PublisherIEEE Computer Society
Pages183-184
Number of pages2
ISBN (Electronic)9781450333184
DOIs
Publication statusPublished - 2015 Mar 2
Externally publishedYes
Event10th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2015 - Portland, United States
Duration: 2015 Mar 22015 Mar 5

Publication series

NameACM/IEEE International Conference on Human-Robot Interaction
Volume02-05-March-2015
ISSN (Electronic)2167-2148

Other

Other10th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2015
CountryUnited States
CityPortland
Period15/3/215/3/5

Keywords

  • human safety
  • humanoid robots
  • reactive strategy

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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