TY - GEN
T1 - Functional Mode Switching for Safe and Efficient Human-Robot Interaction
AU - Svarny, Petr
AU - Hamad, Mazin
AU - Kurdas, Alexander
AU - Hoffmann, Matej
AU - Abdolshah, Saeed
AU - Haddadin, Sami
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Various approaches can ascertain the safety and efficiency of physical human-robot collaboration. This paper presents the concept of robot functional mode switching to efficiently ensure human safety during collaborative tasks based on biomechanical pain and injury data and task information. Besides the robot's reflected inertial properties summarizing its impact dynamics, our concept also integrates safe and smooth velocity shaping that respects human partner motion, interaction type, and task knowledge. We further discuss different approaches to safely shape the robot velocity without sacrificing the overall task execution time and motion smoothness. The experimental results showed that our proposed approaches could decrease jerk level during functional mode switching and limit the impact of safety measures on productivity, especially when guided with additional task knowledge.
AB - Various approaches can ascertain the safety and efficiency of physical human-robot collaboration. This paper presents the concept of robot functional mode switching to efficiently ensure human safety during collaborative tasks based on biomechanical pain and injury data and task information. Besides the robot's reflected inertial properties summarizing its impact dynamics, our concept also integrates safe and smooth velocity shaping that respects human partner motion, interaction type, and task knowledge. We further discuss different approaches to safely shape the robot velocity without sacrificing the overall task execution time and motion smoothness. The experimental results showed that our proposed approaches could decrease jerk level during functional mode switching and limit the impact of safety measures on productivity, especially when guided with additional task knowledge.
UR - https://www.scopus.com/pages/publications/85146316729
U2 - 10.1109/Humanoids53995.2022.10000070
DO - 10.1109/Humanoids53995.2022.10000070
M3 - Conference contribution
AN - SCOPUS:85146316729
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 888
EP - 894
BT - 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022
PB - IEEE Computer Society
T2 - 21st IEEE-RAS International Conference on Humanoid Robots, Humanoids 2022
Y2 - 28 November 2022 through 30 November 2022
ER -