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Robotic Agents Capable of Natural and Safe Physical Interaction with Human Co-Workers

Beetz, Michael and Bartels, Georg and Albu-Schäffer, Alin and Balint-Benczedi, Ferenc and Belder, Rico and Beßler, Daniel and Haddadin, Sami and Maldonado, Alexis and Mansfeld, Nico and Wiedemeyer, Thiemo and Weitschat, Roman and Worch, Jan-Hendrik (2015) Robotic Agents Capable of Natural and Safe Physical Interaction with Human Co-Workers. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. International Conference on Intelligent Robots and Systems, Hamburg. doi: 10.1109/iros.2015.7354310.

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Abstract

Many future application scenarios of robotics envision robotic agents to be in close physical interaction with humans: On the factory floor, robotic agents shall support their human co-workers with the dull and health threatening parts of their jobs. In their homes, robotic agents shall enable people to stay independent, even if they have disabilities that require physical help in their daily life – a pressing need for our aging societies. A key requirement for such robotic agents is that they are safety-aware, that is, that they know when actions may hurt or threaten humans and actively refrain from performing them. Safe robot control systems are a current research focus in control theory. The control system designs, however, are a bit paranoid: programmers build “software fences” around people, effectively preventing physical interactions. To physically interact in a competent manner robotic agents have to reason about the task context, the human, and her intentions. In this paper, we propose to extend cognition-enabled robot control by introducing humans, physical interaction events, and safe movements as first class objects into the plan language. We show the power of the safety-aware control approach in a real-world scenario with a leading-edge autonomous manipulation platform. Finally, we share our experimental recordings through an online knowledge processing system, and invite the reader to explore the data with queries based on the concepts discussed in this paper.

Item URL in elib:https://elib.dlr.de/98679/
Document Type:Conference or Workshop Item (Speech)
Title:Robotic Agents Capable of Natural and Safe Physical Interaction with Human Co-Workers
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Beetz, MichaelUniversität BremenUNSPECIFIEDUNSPECIFIED
Bartels, GeorgUniversität BremenUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115715
Balint-Benczedi, FerencUniversität BremenUNSPECIFIEDUNSPECIFIED
Belder, RicoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Beßler, DanielUniversität BremenUNSPECIFIEDUNSPECIFIED
Haddadin, SamiUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Maldonado, AlexisUniversität BremenUNSPECIFIEDUNSPECIFIED
Mansfeld, NicoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Wiedemeyer, ThiemoUniversität BremenUNSPECIFIEDUNSPECIFIED
Weitschat, RomanUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Worch, Jan-HendrikUniversität BremenUNSPECIFIEDUNSPECIFIED
Date:September 2015
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
DOI:10.1109/iros.2015.7354310
Status:Published
Keywords:Robotic agents, Human-Robot Interaction
Event Title:International Conference on Intelligent Robots and Systems
Event Location:Hamburg
Event Type:international Conference
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 - Robotische Assistenzsysteme (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Mansfeld, Nico
Deposited On:13 Nov 2015 21:39
Last Modified:11 Sep 2023 13:21

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