Asymmetric Velocity Moderation for human-safe robot control
Asymmetric Velocity Moderation for human-safe robot control
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DOI：
10.1080/01691864.2015.1034173
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发表时间：
2015-09
影响因子：
2
通讯作者：
G. A. G. Ricardez-G.-A.-G.-Ricardez-2110421;Akihiko Yamaguchi;J. Takamatsu;T. Ogasawara
中科院分区：
文献类型：
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作者：
G. A. G. Ricardez-G.-A.-G.-Ricardez-2110421;Akihiko Yamaguchi;J. Takamatsu;T. Ogasawara
随着人机交互的物理距离越来越近，确保机器人不会伤害周围的人类变得至关重要。因此，我们提出了不对称的速度缓和作为一个低层次的控制器，机器人系统，以执行人类安全的运动。虽然我们的方法优先考虑人类的安全，但它也保持了机器人的效率。我们所提出的方法限制机器人的速度根据（1）之间的位移向量和机器人的速度向量。也就是说，距离和相对运动方向都被考虑到限制机器人的运动。通过使用简化的HRI场景和危险情况的真实机器人和仿真实验，我们证明了我们的方法能够保持机器人的效率，而不会破坏人类的安全。图形摘要
With the increasing physical proximity of human–robot interaction, ensuring that robots do not harm surrounding humans has become crucial. Therefore, we propose asymmetric velocity moderation as a low-level controller for robotic systems to enforce human-safe motions. While our method prioritizes human safety, it also maintains the robot’s efficiency. Our proposed method restricts the robot’s speed according to (1) the displacement vector between human and robot, and (2) the robot’s velocity vector. That is to say, both the distance and the relative direction of movement are taken into account to restrict the robot’s motion. Through real-robot and simulation experiments using simplified HRI scenarios and dangerous situations, we demonstrate that our method is able to maintain the robot’s efficiency without undermining human safety. Graphical Abstract