Login
- Title:
Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion
- Document type:
- Zeitschriftenaufsatz
- Author(s):
- Haddadin, Sami; Haddadin, Simon; Khoury, Augusto; Rokahr, Tim; Parusel, Sven; Burgkart, Rainer; Bicchi, Antonio; Albu-Schäffer, Alin
- Abstract:
- In this paper, we approach the problem of generating human safe robot velocities. For this, we analyze the relation between robot mass, velocity, impact geometry, and resulting injury qualified in medical terms. We transform these insights into processable representations and propose a motion controller that utilizes injury knowledge for generating safe robot motions. For this, the algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations.
- Keywords:
- Physical Human-Robot Interaction; Robot safety; Velocity control; Injury biomechanics; Robotics
- Journal title:
- at - Automatisierungstechnik
- Year:
- 2014
- Journal volume:
- 62
- Pages contribution:
- 175-187
- Fulltext / DOI:
- doi:10.1515/auto-2012-0236
BibTeX