TY - GEN
T1 - It is (almost) all about human safety
T2 - 32nd International Conference on Computer Safety, Reliability, and Security, SAFECOMP 2013
AU - Haddadin, Sami
AU - Parusel, Sven
AU - Belder, Rico
AU - Albu-Schäffer, Alin
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84886400244&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-40793-2_19
DO - 10.1007/978-3-642-40793-2_19
M3 - Conference contribution
AN - SCOPUS:84886400244
SN - 9783642407925
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 202
EP - 215
BT - Computer Safety, Reliability, and Security - 32nd International Conference, SAFECOMP 2013, Proceedings
Y2 - 24 September 2013 through 27 September 2013
ER -