Human-safe robot motion generation

In daily-life scenarios where humanoid and human share their workspaces, it is crucial that the robot motion does not endanger the human. Therefore, human safety issues have to be solved to achieve a beneficial coexistence with humanoids with a smooth Human-Robot Interaction (HRI).

Asymmetric speed restriction

We restrict the robot motion in terms of velocity so that the motion is safe for humans. This is a kind of reactive strategy which makes the robot react to sensor information in real time. Moreover, we restrict the robot motion more strictly when the robot is moving towards the human but can relax such restriction when the robot is moving away from the human. This asymmetric characteristic benefits both human safety and the robot’s efficiency.

Visualization tool for human safety development

We consider that a deep analysis of the kinematic constraints present during HRI will open new paths towards the development of a safer robot behavior. We created a visualization tool that uses the information obtained from a sensor suit worn by a human subject and the kinematics of a humanoid robot. We investigate the kinematic constraints that are present in HRI, and, from that knowledge, we expect that new clues to improve human safety will arise.

メンバー

• Gustavo Garcia
• Phawat Lertariyasakchai

主要関連論文

• G.A. Garcia Ricardez, A. Yamaguchi, J. Takamatsu, and T. Ogasawara: “Human Safety and Efficiency of a Robot Controlled by Asymmetric Velocity Moderation,” in Proc. of the 10th ACM/IEEE Int. Conf. on Human-Robot Interaction Extended Abstracts (HRI 2015), Portland, USA, March 2-5, 2015, pp. 183-184.
• G.A. Garcia Ricardez, A. Yamaguchi, J. Takamatsu, and T. Ogasawara: “Extended Asymmetric Velocity Moderation: a Reactive Strategy for Human-Safe Robot Control,” in Proc. of the 2013 IEEE Conf. on Robotics and Biomimetics (ROBIO 2013), Shenzhen, China, December 12-14, 2013, pp. 450-455.
• G.A. Garcia Ricardez, P. Lertariyasakchai, A. Yamaguchi, J. Takamatsu, and T. Ogasawara: “Kinematic Analysis for the Development of Human-Safe Robot Behavior using a Sensor Suit,” in Proc. of the 31st Annual Conf. of the Robotics Society of Japan (RSJ 2013), 1J3-01, Tokyo, Japan, September 4-6, 2013.
• G.A. Garcia Ricardez, A. Yamaguchi, J. Takamatsu, and T. Ogasawara: “Asymmetric Velocity Moderation: a Reactive Strategy for Human Safety,” in Proc. of the 10th IEEE Int. Symposium on Safety, Security, and Rescue Robotics (SSRR 2012), College Station, USA, November 5-8, 2012.