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2012_HHKRPBBS_IJRR.pdf
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🔗 Source: centropiaggio.unipi.it
📊 Size: 1.1 MB
📄 Pages: 22 pages
⬇️ Downloads: 81

Summary

Enabling robots to safely interact with humans is a key goal of robotics research, requiring safe robot behavior even in worst-case situations. To quantify safe behavior, understanding injury dynamics is essential. This paper approaches the problem from a medical injury analysis perspective, formulating the relation between robot mass, velocity, impact geometry, and resulting injury. The insights are transformed into processable representations, and a motion supervisor is proposed to generate safe robot motions, taking into account reflected inertia, velocity, and geometry at possible impact locations. The framework forms a basis for generating truly safe velocity bounds that consider dynamic properties of the manipulator and human injury.

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Description

Enabling robots to safely interact with humans is a key goal of robotics research, requiring safe robot behavior even in worst-case situations.

Technical Information

  • File Format: PDF
  • File Size: 1.1 MB
  • Pages: 22
  • Language: EN
  • Total Downloads: 81
  • Last Updated: 5 hours ago

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