On making robots understand safety: Embedding injury knowledge into control
On making robots understand safety: Embedding injury knowledge into control
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DOI：
10.1177/0278364912462256
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发表时间：
2012-11-01
影响因子：
9.2
通讯作者：
Albu-Schaeffer, Alin
中科院分区：
文献类型：
--
作者：
Haddadin, Sami;Haddadin, Simon;Albu-Schaeffer, Alin
使机器人能够安全地与人类互动是机器人研究的一个重要目标。近年来在机械设计和控制方面取得的进展使人类和机器人在相当复杂的情况下进行积极合作成为可能。为此，即使在最坏的情况下，机器人的安全行为也是至关重要的，也是更高层次决策的基础。为了量化安全行为的真正含义，伤害的定义以及对其一般动态的理解至关重要。然后，这种见解可以应用于设计和控制机器人，从而明确考虑到由于机器人与人类的碰撞而造成的伤害。在本文中，我们从医疗伤害分析的角度来探讨这个问题，以制定机器人质量，速度，碰撞几何形状和所造成的伤害合格的医疗条件之间的关系。我们将这些见解转化为可处理的表示，并提出了一个运动监督员，利用受伤的知识产生安全的机器人运动。该算法考虑到可能的撞击位置处的反射惯性、速度和几何形状。建议的框架形成了一个基础，用于生成真正安全的速度界限，明确考虑的机械手和人体伤害的动态特性。
Enabling robots to safely interact with humans is an essential goal of robotics research. The developments achieved over recent years in mechanical design and control made it possible to have active cooperation between humans and robots in rather complex situations. For this, safe robot behavior even under worst-case situations is crucial and forms also a basis for higher-level decisional aspects. For quantifying what safe behavior really means, the definition of injury, as well as understanding its general dynamics, are essential. This insight can then be applied to design and control robots such that injury due to robot-human impacts is explicitly taken into account. In this paper we approach the problem from a medical injury analysis point of view in order to formulate the relation between robot mass, velocity, impact geometry and resulting injury qualified in medical terms. We transform these insights into processable representations and propose a motion supervisor that utilizes injury knowledge for generating safe robot motions. The algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations. The proposed framework forms a basis for generating truly safe velocity bounds that explicitly consider the dynamic properties of the manipulator and human injury.