Extended Asymmetric Velocity Moderation: A reactive strategy for human-safe robot control

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

研究成果: Paper査読

2 被引用数 (Scopus)

抄録

Human safety plays a crucial role for the symbiosis between humans and robots. Moreover, it is also important to maintain the robot's efficiency while keeping the human unharmed. With this purpose, we previously developed Asymmetric Velocity Moderation (AVM) as a reactive strategy for human safety. Nevertheless, this original AVM only considers the end-effector's movement. This may lead to overrestrictions of the robot speed when the human is very close and to underestimate human safety by assuming the end-effector is the main source of danger. Therefore, this paper extends AVM by using restrictions based on the velocities of all points on the robot and their corresponding minimum distances to the whole human body. By eliminating overrestrictions without undermining human safety and by considering the whole robot, a more efficient humansafe robot behavior can be obtained. The method proposed in this paper consists of calculating independent restrictions for every point on the robot and choosing the firmest restriction to limit the robot velocity. Simulation experiments using a virtual environment with a human model and a human-sized humanoid robot were performed for the validation of the proposed method, and its efficiency was evaluated using the task completion time of the robot.

本文言語English
ページ450-455
ページ数6
DOI
出版ステータスPublished - 2013 1 1
外部発表はい
イベント2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China
継続期間: 2013 12 122013 12 14

Other

Other2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
国/地域China
CityShenzhen
Period13/12/1213/12/14

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • バイオテクノロジー

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