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A constraint-based strategy for task-consistent safe human-robot interaction

Ceriani, Nicola Maria; Zanchettin, Andrea Maria; Rocco, Paolo; Stolt, Andreas LU and Robertsson, Anders LU (2013) IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013 p.4630-4635
Abstract
Tight human-robot interaction and collaboration will characterize future robot tasks. Robot working environments will be increasingly unstructured, as safety barriers will be removed to allow a continuous cooperation of robotic and human workers. Such a working scenario calls for novel safety systems capable of combining productivity with workers’ safety. In this paper, a method for the definition of a task-consistent collision avoidance safety strategy is presented. A classification of task constraints based on relevance for task completion is introduced. Control of task constraints enforcement is performed through a state machine. A template for such state machine is proposed. Experimental validation of the proposed safety system on a... (More)
Tight human-robot interaction and collaboration will characterize future robot tasks. Robot working environments will be increasingly unstructured, as safety barriers will be removed to allow a continuous cooperation of robotic and human workers. Such a working scenario calls for novel safety systems capable of combining productivity with workers’ safety. In this paper, a method for the definition of a task-consistent collision avoidance safety strategy is presented. A classification of task constraints based on relevance for task completion is introduced. Control of task constraints enforcement is performed through a state machine. A template for such state machine is proposed. Experimental validation of the proposed safety system on a dual-arm industrial robot prototype is presented. (Less)
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author
organization
publishing date
type
Contribution to conference
publication status
published
subject
pages
6 pages
conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
external identifiers
  • Scopus:84893770904
project
ROSETTA
language
English
LU publication?
yes
id
c3519385-a583-409e-85b8-d458716492b6 (old id 4194192)
date added to LUP
2013-12-12 09:25:08
date last changed
2016-10-13 04:56:04
@misc{c3519385-a583-409e-85b8-d458716492b6,
  abstract     = {Tight human-robot interaction and collaboration will characterize future robot tasks. Robot working environments will be increasingly unstructured, as safety barriers will be removed to allow a continuous cooperation of robotic and human workers. Such a working scenario calls for novel safety systems capable of combining productivity with workers’ safety. In this paper, a method for the definition of a task-consistent collision avoidance safety strategy is presented. A classification of task constraints based on relevance for task completion is introduced. Control of task constraints enforcement is performed through a state machine. A template for such state machine is proposed. Experimental validation of the proposed safety system on a dual-arm industrial robot prototype is presented.},
  author       = {Ceriani, Nicola Maria and Zanchettin, Andrea Maria and Rocco, Paolo and Stolt, Andreas and Robertsson, Anders},
  language     = {eng},
  pages        = {4630--4635},
  title        = {A constraint-based strategy for task-consistent safe human-robot interaction},
  year         = {2013},
}