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Title:

Online Verification of Impact-Force-Limiting Control for Physical Human-Robot Interaction

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Liu, S. B.; Althoff, M.
Pages contribution:
754-760
Abstract:
Humans must remain unharmed during their interaction with robots. We present a new method guaranteeing impact force limits when humans and robots share a workspace. Formal guarantees are realized using an online verification method, which plans and verifies fail-safe maneuvers through predicting reachable impact forces by considering all future possible scenarios. We model collisions as a coupled human-robot dynamical system with uncertainties and identify reachset-conforming models based on rea...     »
Horizon 2020:
CONCERT
Editor:
IEEE
Book / Congress title:
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Date of congress:
27.09.2021
Date of publication:
27.09.2021
Year:
2021
Fulltext / DOI:
doi:10.1109/IROS51168.2021.9636610
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