Title | ||
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It Is (Almost) All about Human Safety: A Novel Paradigm for Robot Design, Control, and Planning |
Abstract | ||
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In this paper we review our work on safe control, acting, and planning in human environments. In order for a robot to be able to safely interact with its environment it is necessary to be able to react to unforeseen events in real-time on basically all levels of abstraction. Having this goal in mind, our contributions reach from fundamental understanding of human injury due to robot-human collisions as the underlying metric for \"safe\" behavior, various interaction control schemes that ground on the basic components impedance control and collision behavior, to safe real-time motion planning and behavior based control as an interface level for task planning. Based on this foundation, we also developed joint interaction planners for role allocation in human-robot collaborative assembly, as well as reactive safety oriented replanning algorithms. A very recent step was the development of novel programming paradigms that act as a simple yet powerful interface between programmer, automatic planning, and the robot. A significant amount of our work on robot safety and control has found found its way into international standardization committees, products, and was applied in numerous real-world applications. |
Year | DOI | Venue |
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2013 | 10.1007/978-3-642-40793-2_19 | SAFECOMP |
Field | DocType | Citations |
Motion planning,Abstraction,Programmer,Software engineering,Programming paradigm,Computer science,Robot design,Collision,Impedance control,Robot | Conference | 2 |
PageRank | References | Authors |
0.39 | 16 | 4 |
Name | Order | Citations | PageRank |
---|---|---|---|
Sami Haddadin | 1 | 294 | 19.18 |
Sven Parusel | 2 | 200 | 9.98 |
Rico Belder | 3 | 9 | 2.64 |
Alin Albu-Schaffer | 4 | 2831 | 262.17 |