Functional Mode Switching for Safe and Efficient Human-Robot Interaction
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00361533" target="_blank" >RIV/68407700:21230/22:00361533 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/Humanoids53995.2022.10000070" target="_blank" >https://doi.org/10.1109/Humanoids53995.2022.10000070</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/Humanoids53995.2022.10000070" target="_blank" >10.1109/Humanoids53995.2022.10000070</a>
Alternative languages
Result language
angličtina
Original language name
Functional Mode Switching for Safe and Efficient Human-Robot Interaction
Original language description
Various approaches can ascertain the safety and efficiency of physical human-robot collaboration. This paper presents the concept of robot functional mode switching to efficiently ensure human safety during collaborative tasks based on biomechanical pain and injury data and task information. Besides the robot's reflected inertial properties summarizing its impact dynamics, our concept also integrates safe and smooth velocity shaping that respects human partner motion, interaction type, and task knowledge. We further discuss different approaches to safely shape the robot velocity without sacrificing the overall task execution time and motion smoothness. The experimental results showed that our proposed approaches could decrease jerk level during functional mode switching and limit the impact of safety measures on productivity, especially when guided with additional task knowledge.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Research Center for Informatics</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids)
ISBN
979-8-3503-0979-9
ISSN
2164-0572
e-ISSN
2164-0580
Number of pages
7
Pages from-to
888-894
Publisher name
IEEE
Place of publication
Piscataway, NJ
Event location
Okinawa
Event date
Nov 28, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000925894300118