Haddadin, Sami und Haddadin, Simon und Khoury, Augusto und Rokahr, Tim und Parusel, Sven und Burgkart, Rainer und Bicchi, Antonio und Albu-Schäffer, Alin (2012) A truly safely moving robot has to know what injury it may cause. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012-10-07 - 2012-10-12, Vilamoura, Algarve, Portugal. doi: 10.1109/iros.2012.6386163.
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Kurzfassung
Enabling robots to safely interact with humans is an essential goal of robotics research. The developments achieved over the last years in mechanical design and control made it possible to have active cooperation between humans and robots in rather complex situations. In these terms, safe behavior of the robot even under worst-case situations is crucial and forms also a basis for higher level decisional aspects. In order to quantify 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 explicitely consider the dynamic properties of the manipulator and human injury.
elib-URL des Eintrags: | https://elib.dlr.de/80635/ | ||||||||||||||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Paper) | ||||||||||||||||||||||||||||||||||||
Titel: | A truly safely moving robot has to know what injury it may cause | ||||||||||||||||||||||||||||||||||||
Autoren: |
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Datum: | 7 Oktober 2012 | ||||||||||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||||||||||||||
DOI: | 10.1109/iros.2012.6386163 | ||||||||||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||||||||||
Stichwörter: | Collision avoidance , Humans , Injuries , Muscles , Robots , Safety , Skin | ||||||||||||||||||||||||||||||||||||
Veranstaltungstitel: | 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||||||||||||||
Veranstaltungsort: | Vilamoura, Algarve, Portugal | ||||||||||||||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||||||||||||||
Veranstaltungsbeginn: | 7 Oktober 2012 | ||||||||||||||||||||||||||||||||||||
Veranstaltungsende: | 12 Oktober 2012 | ||||||||||||||||||||||||||||||||||||
Veranstalter : | IEEE/RSJ | ||||||||||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - RMC - Mechatronik und Telerobotik (alt) | ||||||||||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) | ||||||||||||||||||||||||||||||||||||
Hinterlegt von: | Parusel, Sven | ||||||||||||||||||||||||||||||||||||
Hinterlegt am: | 15 Jan 2013 16:09 | ||||||||||||||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 19:47 |
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