Functional Mode Switching for Safe and Efficient Human-Robot Interaction

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Functional Mode Switching for Safe and Efficient Human-Robot Interaction

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Functional Mode Switching for Safe and Efficient Human-Robot Interaction

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Výzkumné centrum informatiky</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids)

ISBN

979-8-3503-0979-9

ISSN

2164-0572

e-ISSN

2164-0580

Počet stran výsledku

7

Strana od-do

888-894

Název nakladatele

IEEE

Místo vydání

Piscataway, NJ

Místo konání akce

Okinawa

Datum konání akce

28. 11. 2022

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000925894300118