TY - GEN
T1 - SaRA
T2 - 39th IEEE International Conference on Robotics and Automation, ICRA 2022
AU - Schepp, Sven R.
AU - Thumm, Jakob
AU - Liu, Stefan B.
AU - Althoff, Matthias
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Current safety mechanisms implementing industry standards for human-robot coexistence separate humans and robots through caging. Other approaches allowing humans to enter the workspace of manipulators do not provide formal safety guarantees. Thus, this study aims to facilitate the widespread adoption of collaborative robots by presenting SaRA, an extensible tool that performs set-based reachability analysis and formally guarantees safety. Our experimental results show that the set-based prediction of a human can be computed in a few microseconds, using SaRA, allowing for real-time consideration of many surrounding humans in an environment.
AB - Current safety mechanisms implementing industry standards for human-robot coexistence separate humans and robots through caging. Other approaches allowing humans to enter the workspace of manipulators do not provide formal safety guarantees. Thus, this study aims to facilitate the widespread adoption of collaborative robots by presenting SaRA, an extensible tool that performs set-based reachability analysis and formally guarantees safety. Our experimental results show that the set-based prediction of a human can be computed in a few microseconds, using SaRA, allowing for real-time consideration of many surrounding humans in an environment.
UR - http://www.scopus.com/inward/record.url?scp=85130516645&partnerID=8YFLogxK
U2 - 10.1109/ICRA46639.2022.9811952
DO - 10.1109/ICRA46639.2022.9811952
M3 - Conference contribution
AN - SCOPUS:85130516645
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4312
EP - 4317
BT - 2022 IEEE International Conference on Robotics and Automation, ICRA 2022
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 23 May 2022 through 27 May 2022
ER -