Safety in human-multi robot collaborative scenarios: a trajectory scaling approach. Lippi, M. & Marino, A. 2018. ![Safety in human-multi robot collaborative scenarios: a trajectory scaling approach [link]](https://bibbase.org/img/filetypes/link.svg "link")
Paper doi abstract bibtex 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.
@conference{
11580_71444,
author = {Lippi, Martina and Marino, Alessandro},
title = {Safety in human-multi robot collaborative scenarios: a trajectory scaling approach},
year = {2018},
publisher = {Elsevier B.V.},
journal = {IFAC-PAPERSONLINE},
volume = {51},
booktitle = {12th IFAC Symposium on Robot Control SYROCO},
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.},
keywords = {Human-robot collaboration. Trajectory scaling. Multi-robot systems; Control and Systems Engineering},
url = {https://www.sciencedirect.com/science/article/pii/S2405896318332464},
doi = {10.1016/j.ifacol.2018.11.540},
pages = {190--196},
number = {22}
}
Downloads: 0
{"_id":"xiaAwNeMeFYHTZEsk","bibbaseid":"lippi-marino-safetyinhumanmultirobotcollaborativescenariosatrajectoryscalingapproach-2018","authorIDs":["LrAbsg35wgHCj2eSB","QhWqagzLeLu2dTK33","aYgtXTRLpGNrAGodW","ne6yNnpK9XTiSEDdG"],"author_short":["Lippi, M.","Marino, A."],"bibdata":{"bibtype":"conference","type":"conference","author":[{"propositions":[],"lastnames":["Lippi"],"firstnames":["Martina"],"suffixes":[]},{"propositions":[],"lastnames":["Marino"],"firstnames":["Alessandro"],"suffixes":[]}],"title":"Safety in human-multi robot collaborative scenarios: a trajectory scaling approach","year":"2018","publisher":"Elsevier B.V.","journal":"IFAC-PAPERSONLINE","volume":"51","booktitle":"12th IFAC Symposium on Robot Control SYROCO","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.","keywords":"Human-robot collaboration. Trajectory scaling. Multi-robot systems; Control and Systems Engineering","url":"https://www.sciencedirect.com/science/article/pii/S2405896318332464","doi":"10.1016/j.ifacol.2018.11.540","pages":"190–196","number":"22","bibtex":"@conference{\n\t11580_71444,\n\tauthor = {Lippi, Martina and Marino, Alessandro},\n\ttitle = {Safety in human-multi robot collaborative scenarios: a trajectory scaling approach},\n\tyear = {2018},\n\tpublisher = {Elsevier B.V.},\n\tjournal = {IFAC-PAPERSONLINE},\n\tvolume = {51},\n\tbooktitle = {12th IFAC Symposium on Robot Control SYROCO},\n\tabstract = {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.},\n\tkeywords = {Human-robot collaboration. Trajectory scaling. Multi-robot systems; Control and Systems Engineering},\n\turl = {https://www.sciencedirect.com/science/article/pii/S2405896318332464},\n\tdoi = {10.1016/j.ifacol.2018.11.540},\n\tpages = {190--196},\n\tnumber = {22}\n}\n","author_short":["Lippi, M.","Marino, A."],"key":"11580_71444","id":"11580_71444","bibbaseid":"lippi-marino-safetyinhumanmultirobotcollaborativescenariosatrajectoryscalingapproach-2018","role":"author","urls":{"Paper":"https://www.sciencedirect.com/science/article/pii/S2405896318332464"},"keyword":["Human-robot collaboration. Trajectory scaling. Multi-robot systems; Control and Systems Engineering"],"metadata":{"authorlinks":{"lippi, m":"https://m-lippi.github.io/publications.html","marino, a":"https://bibbase.org/show?bib=https://bibbase.org/network/files/LhpEBBMAufCZxdRLG&msg=preview&fileId=LhpEBBMAufCZxdRLG"}},"downloads":0},"bibtype":"conference","biburl":"https://bibbase.org/network/files/LhpEBBMAufCZxdRLG","creationDate":"2020-07-21T16:01:21.426Z","downloads":0,"keywords":["human-robot collaboration. trajectory scaling. multi-robot systems; control and systems engineering"],"search_terms":["safety","human","multi","robot","collaborative","scenarios","trajectory","scaling","approach","lippi","marino"],"title":"Safety in human-multi robot collaborative scenarios: a trajectory scaling approach","year":2018,"dataSources":["YYA4jfiKR2BsiLkFH","N5sqdHnYRirLiSvq9","qyM7W3dkRX9o3Qhhu","stF936MNsbnXfQSsz","6NgPDFaCmqRP2Kc7N","RWJmxnQ8QJ5eWqEfq","a9jNc2NyyC7d58MTq","YjpAZwNicNHANadbW","9HNP8ouNgGHQfHxfN"]}