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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

Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Haddadin, SamiRobotics and Mechatronics Center,DLRUNSPECIFIED
Haddadin, SimonRobotics and Mechatronics Center,DLRUNSPECIFIED
Khoury, AugustoRobotics and Mechatronics Center,DLRUNSPECIFIED
Rokahr, TimRobotics and Mechatronics Center,DLRUNSPECIFIED
Parusel, SvenRobotics and Mechatronics Center,DLRUNSPECIFIED
Burgkart, RainerOrthopedic Clinic and Polyclinic, University Hospital Klinikum Rechts der Isar, Technical University of Munich (TUM)UNSPECIFIED
Bicchi, AntonioInterdepartmental Research Center “E. Piaggio”, Faculty of Engineering, University of PisaUNSPECIFIED
Albu-Schäffer, AlinRobotics and Mechatronics Center,DLRUNSPECIFIED
Date:30 November 2012
Journal or Publication Title:International Journal of Robotics Research
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:31
DOI :[10.1177/0278364912462256]
Page Range:pp. 1578-1602
Editors:
EditorsEmail
Hollerbach, John Mjmh@cs.utah.edu
Publisher:SAGE Publications
Status:Published
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
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:06 Sep 2019 15:18

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