It is (almost) all about human safety: A novel paradigm for robot design, control, and planning

Sami Haddadin, Sven Parusel, Rico Belder, Alin Albu-Schäffer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations

Abstract

In this paper we review our work on safe control, acting, and planning in human environments. In order for a robot to be able to safely interact with its environment it is necessary to be able to react to unforeseen events in real-time on basically all levels of abstraction. Having this goal in mind, our contributions reach from fundamental understanding of human injury due to robot-human collisions as the underlying metric for "safe" behavior, various interaction control schemes that ground on the basic components impedance control and collision behavior, to safe real-time motion planning and behavior based control as an interface level for task planning. Based on this foundation, we also developed joint interaction planners for role allocation in human-robot collaborative assembly, as well as reactive safety oriented replanning algorithms. A very recent step was the development of novel programming paradigms that act as a simple yet powerful interface between programmer, automatic planning, and the robot. A significant amount of our work on robot safety and control has found found its way into international standardization committees, products, and was applied in numerous real-world applications.

Original languageEnglish
Title of host publicationComputer Safety, Reliability, and Security - 32nd International Conference, SAFECOMP 2013, Proceedings
Pages202-215
Number of pages14
DOIs
StatePublished - 2013
Externally publishedYes
Event32nd International Conference on Computer Safety, Reliability, and Security, SAFECOMP 2013 - Toulouse, France
Duration: 24 Sep 201327 Sep 2013

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8153 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference32nd International Conference on Computer Safety, Reliability, and Security, SAFECOMP 2013
Country/TerritoryFrance
CityToulouse
Period24/09/1327/09/13

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