相关论文: Safe Interactive Industrial Robots using Jerk-base…
Generating safe behaviors for autonomous systems is important as they continue to be deployed in the real world, especially around people. In this work, we focus on developing a novel safe controller for systems where there are multiple…
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…
It is critical to ensure safety for humanoid robots in real-world applications without compromising performance. In this paper, we consider the problem of dexterous safety, featuring limb-level geometry constraints for avoiding both…
Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…
In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that…
Safe and efficient collaboration among multiple robots in unstructured environments is increasingly critical in the era of Industry 4.0. However, achieving robust and autonomous collaboration among humans and other robots requires modern…
Human-robot collaborations have been recognized as an essential component for future factories. It remains challenging to properly design the behavior of those co-robots. Those robots operate in dynamic uncertain environment with limited…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…
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…
Nonlinear controllers for floating base systems in contact with the environment are often framed as quadratic programming (QP) optimization problems. Common drawbacks of such QP based controllers are: the control input often experiences…
This paper presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets. While optimal control and model predictive control strategies can be employed in these scenarios, they suffer from high…
Ensuring safety for human-interactive robotics is important due to the potential for human injury. The key challenge is defining safety in a way that accounts for the complex range of human behaviors without modeling the human as an…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
Deep reinforcement learning (DRL) is emerging as a promising method for adaptive robotic motion and complex task automation, effectively addressing the limitations of traditional control methods. However, ensuring safety throughout both the…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
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…
Multi-robot systems are increasingly being used for critical applications such as rescuing injured people, delivering food and medicines, and monitoring key areas. These applications usually involve navigating at high speeds through…
This paper aims to provide a clear and rigorous understanding of commonly recognized safety constraints in physical human-robot interaction, particularly regarding ISO/TS 15066. We investigate the derivation of these constraints, critically…
Conventional passivity-based torque controllers for manipulators are typically unconstrained, which can lead to safety violations under external perturbations. In this paper, we employ viability theory to pre-compute safe sets in the…