In this paper, a strategy to handle the human safety in a multi-robot scenario is devised. In the presented framework, it is foreseen that robots are in charge of performing any cooperative manipulation task which is parameterized by a proper task function. The devised architecture answers to the increasing demand of strict cooperation between humans and robots, since it equips a general multi-robot cell with the feature of making robots and human working together. The human safety is properly handled by defining a safety index which depends both on the relative position and velocity of the human operator and robots. Then, the multi-robot task trajectory is properly scaled in order to ensure that the human safety never falls below a given threshold which can be set in worst conditions according to a minimum allowed distance. Simulations results are presented in order to prove the effectiveness of the approach.

Lippi, M., Marino, A. (2018). Safety in human-multi robot collaborative scenarios: a trajectory scaling approach. In IFAC-PapersOnLine, IFAC Symposium on Robot Control (SYROCO) (pp.190-196) [10.1016/j.ifacol.2018.11.540].

Safety in human-multi robot collaborative scenarios: a trajectory scaling approach

Lippi M.
;
2018

Abstract

In this paper, a strategy to handle the human safety in a multi-robot scenario is devised. In the presented framework, it is foreseen that robots are in charge of performing any cooperative manipulation task which is parameterized by a proper task function. The devised architecture answers to the increasing demand of strict cooperation between humans and robots, since it equips a general multi-robot cell with the feature of making robots and human working together. The human safety is properly handled by defining a safety index which depends both on the relative position and velocity of the human operator and robots. Then, the multi-robot task trajectory is properly scaled in order to ensure that the human safety never falls below a given threshold which can be set in worst conditions according to a minimum allowed distance. Simulations results are presented in order to prove the effectiveness of the approach.
Lippi, M., Marino, A. (2018). Safety in human-multi robot collaborative scenarios: a trajectory scaling approach. In IFAC-PapersOnLine, IFAC Symposium on Robot Control (SYROCO) (pp.190-196) [10.1016/j.ifacol.2018.11.540].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11590/423070
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