Human-robot interactions carry several challenges, the most important being the risk of injury to the human. In industrial robotic systems, robots are mostly caged and isolated from humans in a safety guard environment. However, as time has passed, the use of domestic robots has emerged, leading to a high need in research on robot safety in domestic settings. Human-Robot collaboration is still in an initial stage; thus, safety assessments in domestic environments are critical in the field of collaborative robots or cobots, with simulations being the first stage of research. In this study, a preliminary investigation on the simulation of human’s safety throughout human-robot interactions in home surroundings with no safety fence is presented. A simulation model is designed and developed with Gazebo in the Robot Operating System, ROS-based, to simulate the human-robot interaction. In the robot trajectory, safety interaction can be simulated. In one example, the robot’s speed can be reduced before a collision with a human about to happen, and it can be minimized the risk of the collision or reduce the damage of the risk. After the successful simulation, this can be applied to the real robot in a domestic working environment.

In human-robot interaction, the use of collaborative robots or cobots in many industries is of major importance to researchers in human-robot interaction (HRI). The interaction between human robot carries several challenges, the greatest being the risk of human injury. In addition to reducing the proximity between robots and humans, increased difficulty of human-robot encounters raises the likelihood of accidents only. This paper proposes a virtual collaborative robot in the simulated non-industrial workspace. The safety during human-robot interaction using simulation software was investigated by measuring the risks for planning and control. A reactive robot controller was formulated to minimize the risk during human-robot interaction. A Gazebo software is used in this article, written in Python language, to replicate complex environments that a robot can face. This paper also investigated the robot’s speed. It can be reduced before a collision with a human about to happen, and it minimized the risk of the collision or reduced the damage of the risk. After the successful simulation, this can be applied to the real robot in a practical domestic environment.