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

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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルHRI 2015 - Proceedings of the 2015 ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts
出版社IEEE Computer Society
ページ183-184
ページ数2
ISBN(電子版)9781450333184
DOI
出版ステータスPublished - 2015 3月 2
外部発表はい
イベント10th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2015 - Portland, United States
継続期間: 2015 3月 22015 3月 5

出版物シリーズ

名前ACM/IEEE International Conference on Human-Robot Interaction
02-05-March-2015
ISSN(電子版)2167-2148

Other

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

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 電子工学および電気工学

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