Making service robots human-safe
Making service robots human-safe
复制标题
使服务机器人对人类安全
DOI：
10.1109/iros.2000.894685
复制
发表时间：
2000
期刊：
影响因子：
--
通讯作者：
Miguel Pérez
中科院分区：
文献类型：
--
作者：
V. Traver;A. P. Pobil;Miguel Pérez
本文首先回顾了关于服务机器人应用中非常重要但却被忽视的安全问题的文献。由于缺乏灵活性，现有的几种方法中的大多数都是有限的。我们认为人类量身定制的安全方案是非常必要的，并提出了两种策略，我们认为人类安全的机器人应该被构想出来。在给定工作空间力的情况下，一种快速推导机器人增量运动的方法构成了机器人行为的基础，这是所提出策略的基础。我们的仿真表明，我们的策略是安全的，人性化的，并具有实时性。最后，我们讨论了可以扩展我们工作的许多方法。
This paper first reviews the literature about the very important but neglected issue of safety in service-robots applications. Most of the few existing approaches are limited because they lack flexibility. We argue that human-tailored safety schemes are greatly needed, and propose two strategies in the line we think human-safe robots should be conceived. A fast method to derive the robot's incremental movements given a workspace force applied to the robot constitutes the basis of the robot behaviors that underlie the proposed strategies. Our simulations show that our strategies are safe, human-friendly and exhibit real-time performance. Finally, we discuss the many ways in which our work can be extended.