TY - GEN
T1 - Towards safe physical human-robot interaction
T2 - 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012
AU - Norouzzadeh, Sholeh
AU - Lorenz, Tamara
AU - Hirche, Sandra
PY - 2012
Y1 - 2012
N2 - Operating in the proximity of humans has been a long-term challenge in robotics research. To achieve this objective, one of the main issues is to ensure safe and comfortable physical human-robot interaction (pHRI). In this paper, we tackle the safety problem at the control level. To ensure operation is within perceived safe zone, we use model predictive control, which finds the optimal control signal online, while imposing predefined safety constraints on the robotic system. The strength of this method lies in allowing the system to perform close to, or at the edge of the constraints' boundaries. In contrast to other works we consider here perceived safety; the constraints for perceived safety are derived in a competitive pHRI experiment. The perceived safety and comfort of the proposed approach is then evaluated with a second, game-like pHRI experiment.
AB - Operating in the proximity of humans has been a long-term challenge in robotics research. To achieve this objective, one of the main issues is to ensure safe and comfortable physical human-robot interaction (pHRI). In this paper, we tackle the safety problem at the control level. To ensure operation is within perceived safe zone, we use model predictive control, which finds the optimal control signal online, while imposing predefined safety constraints on the robotic system. The strength of this method lies in allowing the system to perform close to, or at the edge of the constraints' boundaries. In contrast to other works we consider here perceived safety; the constraints for perceived safety are derived in a competitive pHRI experiment. The perceived safety and comfort of the proposed approach is then evaluated with a second, game-like pHRI experiment.
UR - https://www.scopus.com/pages/publications/84870793349
U2 - 10.1109/ROMAN.2012.6343801
DO - 10.1109/ROMAN.2012.6343801
M3 - Conference contribution
AN - SCOPUS:84870793349
SN - 9781467346054
T3 - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
SP - 503
EP - 508
BT - 2012 IEEE RO-MAN
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 9 September 2012 through 13 September 2012
ER -