2022
DOI: 10.3390/s22124376
|View full text |Cite
|
Sign up to set email alerts
|

Cobot Motion Planning Algorithm for Ensuring Human Safety Based on Behavioral Dynamics

Abstract: Recently, the safety of workers has gained increasing attention due to the applications of collaborative robots (cobot). However, there is no quantitative research on the impact of cobot behavior on humans’ psychological reactions, and these results are not applied to the cobot motion planning algorithms. Based on the concept of the gravity field, this paper proposes a model of the psychological safety field (PSF), designs a comprehensive experiment on different speeds and minimum distances when approaching th… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
1
1

Citation Types

0
2
0

Year Published

2023
2023
2024
2024

Publication Types

Select...
5
2

Relationship

0
7

Authors

Journals

citations
Cited by 8 publications
(2 citation statements)
references
References 24 publications
0
2
0
Order By: Relevance
“…Specifically, In the UCs for this controlled scenario, there could be two centroids mainly focused on the worker and the Cobot. Thus, ML classifier algorithms were selected taking into account the knowledge about the task and the robustness of these classifiers for real-time and noise environment requirements oriented to a binary case [ 41 , 42 , 43 , 44 , 45 , 46 ]. The scenario’s classes for modelling are the number of centroids (NC =2, C1 and C2).…”
Section: Methodsmentioning
confidence: 99%
“…Specifically, In the UCs for this controlled scenario, there could be two centroids mainly focused on the worker and the Cobot. Thus, ML classifier algorithms were selected taking into account the knowledge about the task and the robustness of these classifiers for real-time and noise environment requirements oriented to a binary case [ 41 , 42 , 43 , 44 , 45 , 46 ]. The scenario’s classes for modelling are the number of centroids (NC =2, C1 and C2).…”
Section: Methodsmentioning
confidence: 99%
“…Collision detection plays an important role in computer graphics and manipulator path planning [1][2][3][4]. Multi-degree-of-freedom manipulators are composed of several interconnected links that undergo positional changes during movement.…”
Section: Introductionmentioning
confidence: 99%