@inproceedings{haddadin_it_2013,
	series = {Lecture {Notes} in {Computer} {Science}},
	title = {It {Is} ({Almost}) {All} about {Human} {Safety}: {A} {Novel} {Paradigm} for {Robot} {Design}, {Control}, and {Planning}},
	isbn = {978-3-642-40792-5 978-3-642-40793-2},
	shorttitle = {It {Is} ({Almost}) {All} about {Human} {Safety}},
	url = {https://link.springer.com/chapter/10.1007/978-3-642-40793-2_19},
	doi = {10.1007/978-3-642-40793-2_19},
	abstract = {In this paper we review our work on safe control, acting, and planning in human environments. In order for a robot to be able to safely interact with its environment it is necessary to be able to react to unforeseen events in real-time on basically all levels of abstraction. Having this goal in mind, our contributions reach from fundamental understanding of human injury due to robot-human collisions as the underlying metric for “safe” behavior, various interaction control schemes that ground on the basic components impedance control and collision behavior, to safe real-time motion planning and behavior based control as an interface level for task planning. Based on this foundation, we also developed joint interaction planners for role allocation in human-robot collaborative assembly, as well as reactive safety oriented replanning algorithms. A very recent step was the development of novel programming paradigms that act as a simple yet powerful interface between programmer, automatic planning, and the robot. A significant amount of our work on robot safety and control has found found its way into international standardization committees, products, and was applied in numerous real-world applications.},
	language = {en},
	urldate = {2018-08-06TZ},
	booktitle = {Computer {Safety}, {Reliability}, and {Security}},
	publisher = {Springer, Berlin, Heidelberg},
	author = {Haddadin, Sami and Parusel, Sven and Belder, Rico and Albu-Schäffer, Alin},
	month = sep,
	year = {2013},
	pages = {202--215}
}

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