Ensuring safety in human-robot coexistence environment

Chi Shen Tsai*, Jwu-Sheng Hu, Masayoshi Tomizuka

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

24 Scopus citations

Abstract

This paper proposes a safety index and an associated formulation in the optimization-based path planning framework to assess and ensure the safety of human workers in a human-robot coexistence environment. The safety index is evaluated using the ellipsoid coordinates (EC) attached to the robot links that represents the distance between the robot arm and the worker. To account for the inertial effect, the momentum of the robot links are projected onto the coordinates to generate additional measures of safety. The safety index is used as a constraint in the optimization problem so that a collision-free trajectory within a finite time horizon is generated online iteratively for the robot to move towards the desired position. To reduce the computational load for real-time implementation, the formulated optimization problem is further approximated by a quadratic problem. The safety index and the proposed formulations are simulated and validated in a two-link planar robot and the ITRI 7-DoF robot with a human worker moving inside the workspace of the robots.

Original languageEnglish
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4191-4196
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - 31 Oct 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: 14 Sep 201418 Sep 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period14/09/1418/09/14

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  • Cite this

    Tsai, C. S., Hu, J-S., & Tomizuka, M. (2014). Ensuring safety in human-robot coexistence environment. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4191-4196). [6943153] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943153