Related papers: A General Safety Framework for Autonomous Manipula…
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…
Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
Robots can influence people to accomplish their tasks more efficiently: autonomous cars can inch forward at an intersection to pass through, and tabletop manipulators can go for an object on the table first. However, a robot's ability to…
In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is…
In this paper, we propose and validate a Joint-Initiative Supervised Autonomy (JISA) framework for Human-Robot Interaction (HRI), in which a robot maintains a measure of its self-confidence (SC) while performing a task, and only prompts the…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
Direct physical interaction with robots is becoming increasingly important in flexible production scenarios, but robots without protective fences also pose a greater risk to the operator. In order to keep the risk potential low, relatively…
The role of robots is expanding from tool to collaborator. Socially assistive robots (SARs) are an example of collaborative robots that assist humans in the real world. As robots enter our social sphere, unforeseen risks occur during…
While Deep Reinforcement Learning (DRL) has achieved remarkable success across various domains, it remains vulnerable to occasional catastrophic failures without additional safeguards. An effective solution to prevent these failures is to…
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…
Human safety is critical in applications involving close human-robot interactions (HRI) and is a key aspect of physical compatibility between humans and robots. While measures of human safety in HRI exist, these mainly target industrial…
Robotic tasks involving contact interactions pose significant challenges for trajectory optimization due to discontinuous dynamics. Conventional formulations typically assume deterministic contact events, which limit robustness and…
Deployment of Reinforcement Learning (RL) algorithms for robotics applications in the real world requires ensuring the safety of the robot and its environment. Safe Robot RL (SRRL) is a crucial step towards achieving human-robot…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
We present an overview of recently developed data-driven tools for safety analysis of autonomous vehicles and advanced driver assist systems. The core algorithms combine model-based, hybrid system reachability analysis with sensitivity…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…
The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly,…
With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration…