Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

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)
Please use this url to cite or link to this publication:
author
; ; ; and
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
conference location
Tokyo, Japan
conference dates
2013-11-03 - 2013-11-08
external identifiers
  • scopus:84893770904
project
ROSETTA
language
English
LU publication?
yes
additional info
key=cerianiIROS13 month=nov
id
c3519385-a583-409e-85b8-d458716492b6 (old id 4194192)
date added to LUP
2016-04-04 13:33:55
date last changed
2024-01-28 06:48:57
@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}},
}