Control of robots sharing their workspace with humans: An energetic approach to safety

Meguenani, Anis; Padois, Vincent; Bidaud, Philippe

doi:10.1109/iros.2015.7354043

Cited by 10 publications

(7 citation statements)

References 18 publications

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“…While the controller applies to a general context of safety, modelling of the environment and tool geometry is still to be provided in order to provide appropriate limit to respect [11]. Furthermore, although a medical procedure is targeted here, industrial applications can be considered as well, as in [16].…”

Section: Discussionmentioning

confidence: 99%

“…This permits to dynamically account in an optimal and guaranteed way for the inequality constraints related to the physical limits of the robot [17]. It can also account for constraints arising from the surrounding environment [7], [16] such as the proposed safety criterion. If needed, hierarchies among tasks can also be accounted for in a strict way as in [12] or [18].…”

Section: Introductionmentioning

confidence: 99%

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Towards X-Ray Medical Imaging with Robots in the Open: Safety Without Compromising Performances

Joseph

Padois

Morel

2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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In this paper, a control solution featuring an energetic constraint is developed to improve the safety of a robotic manipulator sharing its workspace with humans. This general control structure, exploits a generic safe controller that ensures the respect of multiple constraints thanks to a Linear Quadratic Problem formulation. With a unified energetic formulation, the controller allows to explicitly limit both the kinetic energy when moving and the wrench applied to the environment in case of contact with an unexpected obstacle. This control approach is experimented on a redundant Kuka LWR4+ robot which end-effector shall precisely point toward a given location while following a trajectory.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Towards X-Ray Medical Imaging with Robots in the Open: Safety Without Compromising Performances

Joseph

Padois

Morel

2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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“…Kinetic and potential energy based criteria are used to constrain the dynamic behaviour of a KUKA LWR4 serial robot during the interaction with a human operator. The present paper is the continuation of our previously published work [7]. It is organised as follows.…”

Section: Introductionmentioning

confidence: 92%

“…) K represents the equivalent breaking force applied on the end-effector in the opposite direction of the obstacle. more details about this parameter can be found in [7]. Given the global objectives of this work, an average value of K (> 0) is considered all over the workspace of the robot.…”

Section: Safety Limit Valuesmentioning

confidence: 99%

Energy Based Control for Safe Human-Robot Physical Interaction

Meguenani

Padois

Silva

et al. 2017

Springer Proceedings in Advanced Robotics

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In this paper, we propose physically meaningful energy related safety indicators for robots sharing their workspace with humans. Based on these indicators, safety criteria are introduced as constraints in the control algorithm. The first constraint is placed on the kinetic energy of the robotic system to limit the amount of dissipated energy in case of collision. This constraint depends on the distance between the robot and the human operator. The distance is computed with a point cloud based algorithm acquired using a set of depth sensors (Kinects). The second constraint is on the amount of potential energy that is allowed to be generated within the human-robot system during physical contact. It is used to modulate the contact forces. The control algorithm is formulated as an optimization problem and computes every time step the actuation torques for a KUKA LWR4 manipulator given some task to be performed, the introduced constraints and the physical limitations of the system to respect. The overall framework allows a human operator to safely enter the robot's workspace and physically interact with it.

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“…Kinetic Energy Limitation When robot and human collide, the level of injury endured by the latter can be related to the robot's kinetic energy [11], [12]. Hence, kinetic energy is a major concern when it comes to safety, and, as such, it should be limited.…”

Section: Ieee Robotics and Automation Magazine • June 2018mentioning

confidence: 99%

In Pursuit of Safety: An Open-Source Library for Physical Human-Robot Interaction

Navarro

Fonte

Fraisse

et al. 2018

IEEE Robot. Automat. Mag.

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This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination. 3 IEEE ROBOTICS & AUTOMATION MAGAZINE • JUNE 2018 impact with the operator. Ideally, both solutions should be combined to provide the highest level of safety. Although pHRI has been extensively investigated by the research community, to the best of our knowledge, no general open-source software solution exists to date. Thus, each research team or industrial organization is forced to develop its own applications, limiting the adoption, benchmarking, and growth of pHRI in the community. So the main motivation behind OpenPHRI is to provide a full-featured, opensource software library that can also be easily extended to develop pHRI applications. Overview of the Library The controller, constraints, and inputs described in this article are all available in the OpenPHRI software library, distributed online [14] free of charge under the GNU Lesser General Public License version 3 (LGPLv3) [15]. This license allows integration with open-or closed-source software as long as any modifications made to the library are shared with the community. OpenPHRI is written in C++ to maximize efficiency in terms of computation and memory footprint and to easily embed it in existing projects. Python bindings are also provided, because this language is largely used in the robotics community and because it allows quick prototyping, as most computations are performed in machine language to keep computational times small. An interface with the robotics simulator Virtual Robot Experimentation Platform (V-REP) [16] is also furnished. The V-REP remote Application Programming Interface (API) library embedded in OpenPHRI has no particular license, so it does not violate the LGPLv3. A wrapper for the Robot Operating System framework will be released in the near future. Users can easily integrate other simulators, frameworks, and robots at will. The detailed hierarchy of the project is given in Table 1.

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Control of robots sharing their workspace with humans: An energetic approach to safety

Cited by 10 publications

References 18 publications

Towards X-Ray Medical Imaging with Robots in the Open: Safety Without Compromising Performances

Towards X-Ray Medical Imaging with Robots in the Open: Safety Without Compromising Performances

Energy Based Control for Safe Human-Robot Physical Interaction

In Pursuit of Safety: An Open-Source Library for Physical Human-Robot Interaction

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