Collision Detection and Reaction: A Contribution to Safe Physical Human-Robot Interaction

被引:402
作者
Haddadin, Sami [1 ]
Albu-Schaeffer, Alin [1 ]
De Luca, Alessandro [2 ]
Hirzinger, Gerd [1 ]
机构
[1] DLR German Aerospace Ctr, Inst Robot & Mechatron, Wessling, Germany
[2] Univ Roma La Sapienza, Dipartimento Informat & Sistemist, Rome, Italy
来源
2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年
关键词
D O I
10.1109/IROS.2008.4650764
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
In the framework of physical Human-Robot Interaction (pHRI), methodologies and experimental tests are resented for the problem of detecting and reacting to collisions between a robot manipulator and a human being. Using a lightweight robot that was especially designed for interactive and cooperative tasks, we show how reactive control strategies can significantly contribute to ensuring safety to the human during physical interaction. Several collision tests were carried out, illustrating the feasibility and effectiveness of the proposed approach. While a subjective "safety" feeling is experienced by users when being able to naturally stop the robot in autonomous motion, a quantitative analysis of different reaction strategies was lacking. In order to compare these strategies on an objective basis, a mechanical verification platform has been built. The proposed collision detection and reactions methods prove to work very reliably and are effective in reducing contact forces far below any level which is dangerous to humans. Evaluations of impacts between robot and human arm or chest up to a maximum robot velocity of 2.7 m/s are presented.
引用
收藏
页码:3356 / +
页数:2
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