A behavior-based framework for safe deployment of humanoid robots

Abstract

We present a complete framework for the safe deployment of humanoid robots in environments containing humans. Proceeding from some general guidelines, we propose several safety behaviors, classified in three categories, i.e., override, temporary override, and proactive. Activation and deactivation of these behaviors is triggered by information coming from the robot sensors and is handled by a state machine. The implementation of our safety framework is discussed with respect to a reference control architecture. In particular, it is shown that an MPC-based gait generator is ideal for realizing all behaviors related to locomotion. Simulation and experimental results on the HRP-4 and NAO humanoids, respectively, are presented to confirm the effectiveness of the proposed method.

Product liability for defective AI

“…These include interface design, interpretation of human instructions and signals, 81 providing clear and timely warnings to users, and using intuitive user interfaces to encourage proper system monitoring (Tadele, 2014, 135;Zacharaki et al, 2020, 2;Villani et al, 2018, 249-50). Safety assurance and risk management in robot development encompass context awareness, adaptiveness, override behaviours, collision avoidance systems, and workplace design (Bozhinoski, 2019;Scianca et al, 2021;Robla-Gomez et al, 2017;Bdiwi et al, 2017). User training and awareness programs can educate human operators about the necessary level of monitoring and AI system limitations, fostering vigilance, trust in automation through transparency, and emphasising the need for continuous attentiveness to combat issues like automation complacency and inattentiveness.…”

Assessing the sustainable safety practices based on human behavior factors: an application to Chinese petrochemical industry

“…Thus, one effective approach used to improve unsafe acts of persons is behavior-based safety (BBS) (Geller 2005;Navidian et al 2015). BBS has been successfully applied in various area in North America, Asia and Europe for over the past years such as mining (Hagge et al 2017), the construction industry (Lee et al 2019), robots (Scianca et al 2021), the E-waste collection (Batoo et al 2021) and the vehicle industry (Wang et al 2018). The above researches demonstrate the effectiveness of BBS management on improving unsafe behaviors and sustainable safety performance.…”