A failure-to-safety robot system for human-robot coexistence

Yamada, Yoji; Suita, Kazutsugu; Imai, Koji; Ikeda, Hiroyasu; Sugimoto, Noboru

doi:10.1016/0921-8890(95)00075-5

Cited by 29 publications

(23 citation statements)

References 8 publications

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“…Pioneering work on safety criteria for physical humanrobot interaction are provided in [29]. In particular, curves of maximum tolerable static forces and dynamic impacts on various points of the human body are empirically derived.…”

Section: Safety Analysis In Roboticsmentioning

confidence: 99%

“…(29). On the other hand, when the robot collides with the environment, the torque sensors read values according to the dynamics of Eq.…”

Section: Model-based Force Estimationmentioning

confidence: 99%

“…However, collisions between robotic manipulators and objects and humans have been investigated before [9,29]. Push recovery in humanoid robots allows them to regain balance by stepping in the direction of the push [20] or quickly crouching down [25].…”

mentioning

confidence: 99%

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Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction

2015

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In this paper, we develop estimation and control methods for quickly reacting to collisions between omnidirectional mobile platforms and their environment. To enable the full-body detection of external forces, we use torque sensors located in the robot's drivetrain. Using model based techniques we estimate, with good precision, the location, direction, and magnitude of collision forces, and we develop an admittance controller that achieves a low effective mass in reaction to them. For experimental testing, we use a facility containing a calibrated collision dummy and our holonomic mobile platform. We subsequently explore collisions with the dummy colliding against a stationary base and the base colliding against a stationary dummy. Overall, we accomplish fast reaction times and a reduction of impact forces. A proof of concept experiment presents various parts of the mobile platform, including the wheels, colliding safely with humans.

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Section: Safety Analysis In Roboticsmentioning

confidence: 99%

“…(29). On the other hand, when the robot collides with the environment, the torque sensors read values according to the dynamics of Eq.…”

Section: Model-based Force Estimationmentioning

confidence: 99%

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Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction

2015

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“…In the simulations described in Section 0, the maximum robot inertia is used; however, a lower value can be used for highinertia manipulators. In this case, the maximum safe value can be established based on the largest force magnitude that does not cause pain (Yamada, Suita et al, 1996) and the maximum robot acceleration. For the product based distance criterion, similar to the sum based distance criterion, the center of mass distance between the robot and the user is used.…”

Section: Product Based Criterionmentioning

confidence: 99%

Safe Motion Planning for Human-Robot Interaction: Design and Experiments

Croft

2006

Mobile Robots: Towards New Applications

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“…In the simulations described in Section 5, the maximum robot inertia is used; however, a lower value can be used for high-inertia manipulators. In this case, the maximum safe value can be established based on the largest force magnitude that does not cause pain 27 and the maximum robot acceleration. For the product based distance criterion, similar to the sum based distance criterion, the center of mass distance between the robot and the human is used.…”

Section: Product Based Criterionmentioning

confidence: 99%

Safe planning for human-robot interaction

Kulić

Croft

2005

J. Robotic Syst.

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This paper presents a strategy for improving the safety of human-robot interaction by minimizing a danger criterion during the planning stage. This strategy is one part of the overall methodology for safe planning and control in human-robot interaction. The focus application is a hand-off task between an articulated robot and an inexpert human user. Two formulations of the danger criterion are proposed: a criterion assuming independent safety-related factors, and a criterion assuming mutually dependent factors. Simulations of the proposed planning strategy are presented for both 2D and 3D robots. The results indicate that a criterion based on scaled mutually dependent factors such as the robot inertia and the human robot distance generates safe, feasible paths for interaction.

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A failure-to-safety robot system for human-robot coexistence

Cited by 29 publications

References 8 publications

Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction

Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction

Safe Motion Planning for Human-Robot Interaction: Design and Experiments

Safe planning for human-robot interaction

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