Modeling Intuitive behavior for safe human/robot coexistence cooperation

An intuitive behavior model for safe human/robot coexistence and cooperation is presented. For this purpose, we classify the robot behavior into four cooperation states, which are characterized by two criteria: motion context and interaction context. The motion context can be gross or fine and the interaction context can be free or guided. We describe basic principles relevant to modeling safe and intuitive behavior for robots. The desired robot behavior is detailed for each of the four states along with the necessary transitions between those states

[1]  Dirk Ebert.  Bildbasierte Erzeugung kollisionsfreier Transferbewegungen für Industrieroboter , 2003, Schriftenreihe / Fachbereich Informatik, Universität Kaiserslautern.

[2]  Dominik Henrich,et al.  Safe human-robot-cooperation: problem analysis, system concept and fast sensor fusion , 2001, Conference Documentation International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI 2001 (Cat. No.01TH8590).

[3]  John T. Feddema,et al.  Whole arm obstacle avoidance for teleoperated robots , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[4]  John T. Feddema,et al.  A capacitance-based proximity sensor for whole arm obstacle avoidance , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[5]  Yong Yu,et al.  Sensor-based roadmaps for motion planning for articulated robots in unknown environments: some experiments with an eye-in-hand system , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[6]  Dominik Henrich,et al.  Human-robot cooperation: safe pick-and-place operations , 2005, ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005..

[7]  Albert-Jan Baerveldt.  A SAFETY SYSTEM FOR CLOSE INTERACTION BETWEEN MAN AND ROBOT , 1992 .

[8]  Vladimir J. Lumelsky,et al.  Real-time collision avoidance in teleoperated whole-sensitive robot arm manipulators , 1993, IEEE Trans. Syst. Man Cybern..

[9]  Dominik Henrich,et al.  A hybrid force following controller for multi-scale motions , 2003 .

[10]  M. H. Hamza,et al.  Automation, control, and information technology : proceedings of the IASTED International Conference, June 10-13, 2002, Novosibirsk, Russia , 2002 .

[11]  A.-J. Baerveldt.  Cooperation between man and robot: interface and safety , 1992, [1992] Proceedings IEEE International Workshop on Robot and Human Communication.

[12]  Catherina Burghart,et al.  Concept for Human Robot Co-operation Integrating Artificial Haptic Perception , 2002 .