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On Making Robots Understand Safety: Embedding Injury Knowledge into Control

Haddadin, Sami and Haddadin, Simon and Khoury, Augusto and Rokahr, Tim and Parusel, Sven and Burgkart, Rainer and Bicchi, Antonio and Albu-Schäffer, Alin (2012) On Making Robots Understand Safety: Embedding Injury Knowledge into Control. International Journal of Robotics Research, 31 (13), pp. 1578-1602. SAGE Publications. doi: 10.1177/0278364912462256.

Full text not available from this repository.

Official URL: http://ijr.sagepub.com/content/31/13/1578


Enabling robots to safely interact with humans is an essential goal of robotics research. The developments achieved over recent years in mechanical design and control made it possible to have active cooperation between humans and robots in rather complex situations. For this, safe robot behavior even under worst-case situations is crucial and forms also a basis for higher-level decisional aspects. For quantifying what safe behavior really means, the definition of injury, as well as understanding its general dynamics, are essential. This insight can then be applied to design and control robots such that injury due to robot–human impacts is explicitly taken into account. In this paper we approach the problem from a medical injury analysis point of view in order to formulate the relation between robot mass, velocity, impact geometry and resulting injury qualified in medical terms. We transform these insights into processable representations and propose a motion supervisor that utilizes injury knowledge for generating safe robot motions. The algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations. The proposed framework forms a basis for generating truly safe velocity bounds that explicitly consider the dynamic properties of the manipulator and human injury.

Item URL in elib:https://elib.dlr.de/80623/
Document Type:Article
Title:On Making Robots Understand Safety: Embedding Injury Knowledge into Control
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Haddadin, SamiRobotics and Mechatronics Center,DLRUNSPECIFIEDUNSPECIFIED
Haddadin, SimonRobotics and Mechatronics Center,DLRUNSPECIFIEDUNSPECIFIED
Khoury, AugustoRobotics and Mechatronics Center,DLRUNSPECIFIEDUNSPECIFIED
Rokahr, TimRobotics and Mechatronics Center,DLRUNSPECIFIEDUNSPECIFIED
Parusel, SvenRobotics and Mechatronics Center,DLRUNSPECIFIEDUNSPECIFIED
Burgkart, RainerOrthopedic Clinic and Polyclinic, University Hospital Klinikum Rechts der Isar, Technical University of Munich (TUM)UNSPECIFIEDUNSPECIFIED
Bicchi, AntonioInterdepartmental Research Center “E. Piaggio”, Faculty of Engineering, University of PisaUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinRobotics and Mechatronics Center,DLRUNSPECIFIEDUNSPECIFIED
Date:30 November 2012
Journal or Publication Title:International Journal of Robotics Research
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1578-1602
EditorsEmailEditor's ORCID iDORCID Put Code
Publisher:SAGE Publications
Keywords:Physical human-robot interaction, safety, biomechanics, human injury, soft-tissue, nonlinear control, impact dynamics, robot standardization
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Parusel, Sven
Deposited On:15 Jan 2013 15:53
Last Modified:07 Nov 2023 12:54

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