予期可能動作ユニット：人とロボットの相互作用における人間の不随意運動による危険の回避
Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction
人間の驚きによる不随意運動の発生確率をモデル化し、ロボットの速度と距離を調整してその発生を抑えるリアルタイム動作生成手法を提案した。
著者: Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin
分類: cs.RO
原文アブストラクト
In robotics, many control and planning schemes have been developed to ensure human physical safety in human-robot interaction. The human psychological state and the expectation towards the robot, however, are typically neglected. Even if the robot behaviour is regarded as biomechanically safe, humans may still react with a rapid involuntary motion (IM) caused by a startle or surprise. Such sudden, uncontrolled motions can jeopardize safety and should be prevented by any means. In this letter, we propose the Expectable Motion Unit (EMU), which ensures that a certain probability of IM occurrence is not exceeded in a typical HRI setting. Based on a model of IM occurrence generated through an experiment with 29 participants, we establish the mapping between robot velocity, robot-human distance, and the relative frequency of IM occurrence. This mapping is processed towards a real-time capable robot motion generator that limits the robot velocity during task execution if necessary. The EMU is combined in a holistic safety framework that integrates both the physical and psychological safety knowledge. A validation experiment showed that the EMU successfully avoids human IM in five out of six cases.
