Being safe around the robot

Benjamin Vadant (1) , Mamoun Gharbi (1) , Rachid Alami (1) , Thierry Simeon (1)

1 LAAS - Laboratoire d'analyse et d'architecture des systèmes

This paper is about cost based approaches for motion planning in HRI setups. A general approach (TRRT) developed at LAAS is presented as well as some previous cost based work on human aware motion generation. We also introduce a way to handle dangerous object using this approach: sharp edges and other dangerous object parts should never be directly exposed to the human. A cost function is computed to tackle this issue. Finally we are presenting first results about a new extension of TRRT which is used in HRI motion generation.

Domaines: Sciences de l'ingénieur [physics]; Automatique / Robotique

Benjamin Vadant, Mamoun Gharbi, Rachid Alami, Thierry Simeon. Being safe around the robot. Algorithmic Human Robot Interaction Workshop, HRI 2014, Mar 2014, Bielefeld, Germany. ⟨hal-01110185⟩