Real-time collision avoidance in human-robot interaction based on kinetostatic safety field
- 1 September 2014
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 21530858,p. 4136-4141
- https://doi.org/10.1109/iros.2014.6943145
Abstract
This paper addresses the problem of collision avoidance in human-robot interaction. To this end, we introduce the concept of kinetostatic safety field, a novel safety assessment about the risk in the vicinity of a rigid body (including a robot link or a human body part). The safety field depends on the position and velocity of the body but it is also influenced by its real shape and size. Since all the computation can be performed in closed form, the safety field is suitable for real-time applications. Moreover, we present a safety-oriented control strategy for redundant manipulators, based on safety field and developed entirely on the kinematic level, where the kinematic redundancy is exploited for simultaneous task performance and collision avoidance, such as self-collision avoidance and human-robot coexistence. The proposed control strategy is validated through experiments performed on ABB's FRIDA dual arm robot.This publication has 18 references indexed in Scilit:
- Opening the door to new sensor-based robot applications—The Reflexxes Motion LibrariesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2011
- The skeleton algorithm for self-collision avoidance of a humanoid manipulatorPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2007
- Real-Time Self Collision Avoidance for Humanoids by means of Nullspace Criteria and Task IntervalsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Real-time safety for human–robot interactionRobotics and Autonomous Systems, 2006
- Safe planning for human-robot interactionJournal of Robotic Systems, 2005
- Safety-optimizing method of human-care robot design and controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Safety Evaluation Method of Design and Control for Human-Care RobotsThe International Journal of Robotics Research, 2003
- Elastic Strips: A Framework for Motion Generation in Human EnvironmentsThe International Journal of Robotics Research, 2002
- General Danger Evaluation Method for Control Strategy of Human-care Robot.Journal of the Robotics Society of Japan, 2001
- Real-Time Obstacle Avoidance for Manipulators and Mobile RobotsThe International Journal of Robotics Research, 1986