Pre-collision safety strategies for human-robot interaction
Pre-collision safety strategies for human-robot interaction
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DOI：
10.1007/s10514-006-9009-4
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发表时间：
2007-02-01
影响因子：
3.5
通讯作者：
Croft, Elizabeth
中科院分区：
文献类型：
--
作者：
Kulic, Dana;Croft, Elizabeth
安全规划和控制对于将人机交互带入共同体验至关重要。本文提出了一种集成的人机交互策略，通过一套协调的安全策略来确保人类参与者的安全，这些安全策略被选择和实施，以预测和响应潜在危险的不同时间范围和与用户交互的不同预期水平。建议的规划和控制策略是基于明确的措施，在相互作用的危险。危险程度是根据影响人机碰撞时的冲击力的因素来估计的，例如机器人的有效惯性、机器人与人之间的相对速度和距离。提高安全性的第二个关键要求是机器人感知其环境的能力，更具体地说，是人类的行为和对机器人运动的反应。本文还提出并论证了利用基于视觉和生理传感器的人体监控信息，进一步提高人机交互的安全性。一种方法，用于集成基于传感器的信息，用户的位置和生理反应的机器人到中期和短期的安全策略。通过一系列的实验测试案例，其中一个人和一个关节型机器人响应对方的基础上，人类的物理和生理行为，这种方法得到了验证。
Safe planning and control is essential to bringing human-robot interaction into common experience. This paper presents an integrated human-robot interaction strategy that ensures the safety of the human participant through a coordinated suite of safety strategies that are selected and implemented to anticipate and respond to varying time horizons for potential hazards and varying expected levels of interaction with the user. The proposed planning and control strategies are based on explicit measures of danger during interaction. The level of danger is estimated based on factors influencing the impact force during a human-robot collision, such as the effective robot inertia, the relative velocity and the distance between the robot and the human.A second key requirement for improving safety is the ability of the robot to perceive its environment, and more specifically, human behavior and reaction to robot movements. This paper also proposes and demonstrates the use of human monitoring information based on vision and physiological sensors to further improve the safety of the human robot interaction. A methodology for integrating sensor-based information about the user's position and physiological reaction to the robot into medium and short-term safety strategies is presented. This methodology is verified through a series of experimental test cases where a human and an articulated robot respond to each other based on the human's physical and physiological behavior.