Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion

Sami Haddadin; Simon Haddadin; Augusto Khoury; Tim Rokahr; Sven Parusel; Rainer Burgkart; Antonio Bicchi; Alin Albu-Schäffer

doi:10.1515/auto-2012-0236

Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion

Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer

Publikation: Beitrag in Fachzeitschrift › Artikel › Begutachtung

3 Zitate (Scopus)

Abstract

In this paper, we approach the problem of generating human safe robot velocities. For this, we analyze the relation between robot mass, velocity, impact geometry, and resulting injury qualified in medical terms. We transform these insights into processable representations and propose amotion controller that utilizes injury knowledge for generating safe robot motions. For this, the algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations.

Titel in Übersetzung	Biomechanically safe velocity controller for human-robot interaction
Originalsprache	Deutsch
Seiten (von - bis)	175-187
Seitenumfang	13
Fachzeitschrift	At-Automatisierungstechnik
Jahrgang	62
Ausgabenummer	3
DOIs	https://doi.org/10.1515/auto-2012-0236
Publikationsstatus	Veröffentlicht - März 2014
Extern publiziert	Ja

Schlagwörter

Injury biomechanics
Physical human-robot interaction
Robot safety
Robotics
Velocity control

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10.1515/auto-2012-0236

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title = "Biomechanisch sichere Geschwindigkeitsregelung f{\"u}r die Mensch-Roboter Interaktion",

abstract = "In this paper, we approach the problem of generating human safe robot velocities. For this, we analyze the relation between robot mass, velocity, impact geometry, and resulting injury qualified in medical terms. We transform these insights into processable representations and propose amotion controller that utilizes injury knowledge for generating safe robot motions. For this, the algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations.",

keywords = "Injury biomechanics, Physical human-robot interaction, Robot safety, Robotics, Velocity control",

author = "Sami Haddadin and Simon Haddadin and Augusto Khoury and Tim Rokahr and Sven Parusel and Rainer Burgkart and Antonio Bicchi and Alin Albu-Sch{\"a}ffer",

note = "Funding Information: Danksagung: Diese Arbeit wurde durch das European Commission{\textquoteright}s Sixth Framework Programme im Rahmen der Projekts SAPAHRI (grant no. 287513) gef{\"o}rdert.",

year = "2014",

month = mar,

doi = "10.1515/auto-2012-0236",

language = "Deutsch",

volume = "62",

pages = "175--187",

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AU - Haddadin, Sami

AU - Haddadin, Simon

AU - Khoury, Augusto

AU - Rokahr, Tim

AU - Parusel, Sven

AU - Burgkart, Rainer

AU - Bicchi, Antonio

AU - Albu-Schäffer, Alin

N1 - Funding Information: Danksagung: Diese Arbeit wurde durch das European Commission’s Sixth Framework Programme im Rahmen der Projekts SAPAHRI (grant no. 287513) gefördert.

PY - 2014/3

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N2 - In this paper, we approach the problem of generating human safe robot velocities. For this, we analyze the relation between robot mass, velocity, impact geometry, and resulting injury qualified in medical terms. We transform these insights into processable representations and propose amotion controller that utilizes injury knowledge for generating safe robot motions. For this, the algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations.

AB - In this paper, we approach the problem of generating human safe robot velocities. For this, we analyze the relation between robot mass, velocity, impact geometry, and resulting injury qualified in medical terms. We transform these insights into processable representations and propose amotion controller that utilizes injury knowledge for generating safe robot motions. For this, the algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations.

KW - Injury biomechanics

KW - Physical human-robot interaction

KW - Robot safety

KW - Robotics

KW - Velocity control

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Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion

Abstract

Schlagwörter

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