Top

previous chapter Considering Human Behavior Uncertainty and Disa...

next chapter When Human Visual Performance Is Imperfect—How ...

Hint

Swipe to navigate through the chapters of this book

2017 | OriginalPaper | Chapter

11. Designing the Robot Behavior for Safe Human–Robot Interactions

Read first chapter

Authors: Changliu Liu, Masayoshi Tomizuka

Publisher: Springer International Publishing

Published in: Trends in Control and Decision-Making for Human–Robot Collaboration Systems

» Get access to the full-text

Abstract

Recent advances in robotics suggest that human–robot interaction (HRI) is no longer a fantasy, but is happening in various fields such as industrial robots, autonomous vehicles, and medical robots. Human safety is one of the biggest concerns in HRI. As humans will respond to the robot’s movement, interactions need to be considered explicitly by the robot. A systematic approach to design the robot behavior toward safe HRI is discussed in this chapter. By modeling the interactions in a multiagent framework, the safety issues are understood as conflicts in the multiagent system. By mimicking human’s social behavior, the robot’s behavior is constrained by the ‘no-collision’ social norm and the uncertainties it perceives for human motions. An efficient action is then found within the constraints. Both analysis and human-involved simulation verify the effectiveness of the method.

Please log in to get access to this content

To get access to this content you need the following product:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit dem Kombi-Abo erhalten Sie vollen Zugriff auf über 1,8 Mio. Dokumente aus mehr als 61.000 Fachbüchern und rund 500 Fachzeitschriften aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Umwelt
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe

Testen Sie jetzt 30 Tage kostenlos.

inform now

Springer Professional "Technik"

Online-Abonnement

Mit dem Technik-Abo erhalten Sie Zugriff auf über 1 Mio. Dokumente aus mehr als 40.000 Fachbüchern und 300 Fachzeitschriften aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Umwelt
Maschinenbau + Werkstoffe

Testen Sie jetzt 30 Tage kostenlos.

inform now

(2015) Driverless car market watch. http://www.driverless-future.com

Armbruster W, Böge W (1979) Bayesian game theory. In: Game theory and related topics, vol 17, p 28

Basar T, Olsder GJ (1995) Dynamic noncooperative game theory, vol 200. Academic press, London MATH

Berger CR, Calabrese RJ (1975) Some explorations in initial interaction and beyond: toward a developmental theory of interpersonal communication. Hum Commun Res 1(2):99–112 CrossRef

Burns LD (2013) Sustainable mobility: a vision of our transport future. Nature 497(7448):181–182 CrossRef

Craig JJ (2005) Introduction to robotics: mechanics and control. Pearson/Prentice Hall, Upper Saddle River

Du Toit NE, Burdick JW (2012) Robot motion planning in dynamic, uncertain environments. IEEE Trans Robot 28(1):101–115 CrossRef

Franchi A, Secchi C, Son HI, Bülthoff HH, Giordano PR (2012) Bilateral teleoperation of groups of mobile robots with time-varying topology. IEEE Trans Robot 28(5):1019–1033 CrossRef

Goodwin GC, Sin KS (2013) Adaptive filtering prediction and control. Courier Dover Publications, New York MATH

10.

Gracia L, Garelli F, Sala A (2013) Reactive sliding-mode algorithm for collision avoidance in robotic systems. IEEE Trans Control Syst Technol 21(6):2391–2399 CrossRef

11.

Haddadin S, Albu-Schaffer A, Eiberger O, Hirzinger G (2010) New insights concerning intrinsic joint elasticity for safety. In: 2010 IEEE/RSJ international conference on proceedings of intelligent robots and systems (IROS). IEEE, pp 2181–2187

12.

Hartl RF, Sethi SP, Vickson RG (1995) A survey of the maximum principles for optimal control problems with state constraints. SIAM Rev 37(2):181–218 MathSciNetCrossRefMATH

13.

Khatib O (1986) Real-time obstacle avoidance for manipulators and mobile robots. Int J Robot Res 5(1):90–98 CrossRef

14.

Kong K, Bae J, Tomizuka M (2009) Control of rotary series elastic actuator for ideal force-mode actuation in human-robot interaction applications. IEEE/ASME Trans Mechatron 14(1):105–118 CrossRef

15.

Krüger J, Lien T, Verl A (2009) Cooperation of human and machines in assembly lines. CIRP Ann.-Manuf. Technol. 58(2):628–646 CrossRef

16.

Leber J (2013) At volkswagen, robots are coming out of their cages. http://www.fastcoexist.com/3016848/at-volkswagen-robots-are-coming-out-of-their-cages

17.

Liu J (2001) Autonomous agents and multi-agent systems: explorations in learning, self-organization, and adaptive computation. World Scientific, Singapore CrossRef

18.

Liu C, Tomizuka M (2014a) Control in a safe set: addressing safety in human robot interactions. In: ASME 2014 dynamic systems and control conference, ASME, p V003T42A003

19.

Liu C, Tomizuka M (2014b) Modeling and controller design of cooperative robots in workspace sharing human-robot assembly teams. In: 2014 IEEE/RSJ international conference on intelligent robots and systems (IROS). IEEE, pp 1386–1391

20.

Liu C, Tomizuka M (2015) Safe exploration: addressing various uncertainty levels in human robot interactions. In: American control conference (ACC), pp 465–470

21.

Liu C, Tomizuka M (2016a) Algorithmic safety measures for intelligent industrial co-robots. In: 2016 IEEE international conference on proceedings of robotics and automation (ICRA). IEEE, pp 3095–3102

22.

Liu C, Tomizuka M (2016b) Enabling safe freeway driving for automated vehicles. In: 2016 American control conference. IEEE, pp 3461–3467

23.

Liu C, Tomizuka M (2016c) Who to blame? Learning and control strategies with information asymmetry. In: 2016 American control conference. IEEE, pp 4859–4864

24.

Mohr J, Spekman R (1994) Characteristics of partnership success: partnership attributes, communication behavior, and conflict resolution techniques. Strateg Manag J 15(2):135–152 CrossRef

25.

Ozguner U, Stiller C, Redmill K (2007) Systems for safety and autonomous behavior in cars: the darpa grand challenge experience. Proc IEEE 95(2):397–412 CrossRef

26.

Park DH, Hoffmann H, Pastor P, Schaal S (2008) Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields. In: 2008 IEEE-RAS international conference on humanoid robots. IEEE, pp 91–98

27.

Park HK, Hong HS, Kwon HJ, Chung MJ (2001) A nursing robot system for the elderly and the disabled. International J Hum.-friendly Welfare Robot Syst (HWRS) 2(4):11–16

28.

Russell S, Norvig P (1995) Artificial Intelligence: A Modern Approach. Prentice Hall, Upper Saddle River MATH

29.

Schulman J, Ho J, Lee A, Awwal I, Bradlow H, Abbeel P (2013) Finding locally optimal, collision-free trajectories with sequential convex optimization. In: Robotics: Science and Systems (RSS), vol 9, pp 1–10

30.

Sisbot EA, Marin-Urias LF, Broquere X, Sidobre D, Alami R (2010) Synthesizing robot motions adapted to human presence. Int J Soc Robot 2(3):329–343 CrossRef

31.

Tachi S, Komoriya K (1984) Guide dog robot. Control, Planning, and Architecture, Autonomous Mobile Robots, pp 360–367

32.

Tadele TS, Vries TJd, Stramigioli S (2014) The safety of domestic robots: a survey of various safety-related publications. Robotics and Automation Magazine, IEEE pp 134–142

33.

Tsai CS, Hu JS, Tomizuka M (2014) Ensuring safety in human-robot coexistence environment. In: 2014 IEEE/RSJ international conference on proceedings of intelligent robots and systems (IROS). IEEE, pp 4191–4196

34.

Young JE, Hawkins R, Sharlin E, Igarashi T (2009) Toward acceptable domestic robots: applying insights from social psychology. Int J Soc Robot 1(1):95–108 CrossRef

Title

Designing the Robot Behavior for Safe Human–Robot Interactions

Book

Trends in Control and Decision-Making for Human–Robot Collaboration Systems

Print ISBN: 978-3-319-40532-2

Electronic ISBN: 978-3-319-40533-9

https://doi.org/10.1007/978-3-319-40533-9

DOI

https://doi.org/10.1007/978-3-319-40533-9_11

Authors:

Changliu Liu
Masayoshi Tomizuka

Publisher

Springer International Publishing

Sequence number

Chapter number

Chapter 11