In this paper, we approach the problem of ensuring safety requirements within human-robot collaborative scenarios. The safety requirements considered herein are consistent with the paradigm of speed and separation monitoring. In such a setup, safety guarantees for human operators usually imply limited robot velocities and/or significant distance margins, which in turn may have adverse effects regarding the productivity of the robot. In this paper, we propose a novel approach that minimally affects the productivity while being consistent with such a safety prescription. A comprehensive simulation study shows that our method outperforms the current state of the art algorithm.

Towards the Exact Solution for Speed and Separation Monitoring for Improved Human-Robot Collaboration

Zanchettin A. M.;Rocco P.
2020-01-01

Abstract

In this paper, we approach the problem of ensuring safety requirements within human-robot collaborative scenarios. The safety requirements considered herein are consistent with the paradigm of speed and separation monitoring. In such a setup, safety guarantees for human operators usually imply limited robot velocities and/or significant distance margins, which in turn may have adverse effects regarding the productivity of the robot. In this paper, we propose a novel approach that minimally affects the productivity while being consistent with such a safety prescription. A comprehensive simulation study shows that our method outperforms the current state of the art algorithm.
2020
29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020
978-1-7281-6075-7
File in questo prodotto:
File Dimensione Formato  
ROMAN_Lacevic_et_al_2020.pdf

Accesso riservato

: Publisher’s version
Dimensione 1.67 MB
Formato Adobe PDF
1.67 MB Adobe PDF   Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1164737
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 7
  • ???jsp.display-item.citation.isi??? 4
social impact