Safety in a Human Robot Interactive: Application to Haptic Perception

Vamsi Krishna K Guda; Damien Chablat; Christine Chevallereau

doi:10.1007/978-3-030-49695-1_38

Chapitre D'ouvrage Année : 2020

Safety in a Human Robot Interactive: Application to Haptic Perception

(1) , (2) , (1)

1
2

Vamsi Krishna K Guda

Fonction : Auteur

Robotique Et Vivant

Damien Chablat

Fonction : Auteur
PersonId : 1006
IdHAL : damien-chablat
ORCID : 0000-0001-7847-6162
IdRef : 084680067

Laboratoire des Sciences du Numérique de Nantes

Christine Chevallereau

Fonction : Auteur
PersonId : 16881
IdHAL : christine-chevallereau
ORCID : 0000-0002-1929-5211
IdRef : 033619972

Robotique Et Vivant

Résumé

Abstract Usually, traditional haptic interfaces, such as Virtuose 6DOF [1], are used in the design phases by engineers [2]. Such interfaces are safe. However, the user can apply a force/torque but cannot really feel textures and appreciate material quality. These interfaces have a limited workspace, low stiffness and are very expensive. New haptic interfaces using an industrial robots or a cobot (robots specially designed to work in Human-Robot environments) can be used as a haptic interface with intermittent contacts [3, 4]. For application considered in this paper, the cobot carries several specimens of texture on its end-effector, to allow contact between a finger of the user and the robot. Safety is an important aspect in Human Robot Interactions (HRI) [5], even with the use of cobots, because contacts are expected. The purpose of this paper is to introduce a new methodology to define the basic placement of the robot in relation to the human body and for the planning and control of movements during HRIs to ensure safety.

Domaines

Robotique [cs.RO]

Fichier principal

main.pdf (5.26 Mo)

inter.jpg (21.43 Ko)

Car.jpg (47.59 Ko)

Interface.jpg (54.34 Ko)

S1S2S3_1.jpg (10.91 Ko)

S1S2S3_2.jpg (10.22 Ko)

S1S2S3_3.jpg (12.48 Ko)

S1S2S3_4.jpg (11.6 Ko)

S1S2_1.jpg (13.62 Ko)

S1S2_2.jpg (12.61 Ko)

S1S2_3.jpg (11.93 Ko)

S1S2_4.jpg (11.94 Ko)

S2S3_1.jpg (11.74 Ko)

S2S3_2.jpg (12.83 Ko)

S2S3_3.jpg (10.96 Ko)

base_algo.jpg (85.28 Ko)

dash.jpg (89.19 Ko)

door.jpg (63.83 Ko)

prop.jpg (1.53 Mo)

prop_ppt.jpg (37.14 Ko)

robot.jpg (524.1 Ko)

robot_chair1.jpg (21.78 Ko)

robot_chair1_human.jpg (67 Ko)

robot_chair1_human_60.jpg (64.66 Ko)

robot_chair1_human_75.jpg (64.21 Ko)

robot_chair2.jpg (18.95 Ko)

robot_chair2_human.jpg (69.74 Ko)

robot_dash.jpg (11.18 Ko)

robot_dash_human.jpg (66.66 Ko)

robot_dash_human_60.jpg (58.26 Ko)

robot_dash_human_75.jpg (62.33 Ko)

robot_task.jpg (16.32 Ko)

robot_task_human.jpg (52.82 Ko)

robot_task_human_60.jpg (51.89 Ko)

robot_task_human_75.jpg (52.43 Ko)

robotchair.jpg (2.21 Mo)

seat.jpg (74.1 Ko)

tcpZhorizontal.jpg (24.85 Ko)

tcpZvertical.jpg (20.67 Ko)

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https://hal.science/hal-02994640

Soumis le : dimanche 8 novembre 2020-10:31:34

Dernière modification le : mardi 27 août 2024-12:52:23

Archivage à long terme le : mardi 9 février 2021-18:04:01

Dates et versions

hal-02994640 , version 1 (08-11-2020)

Identifiants

HAL Id : hal-02994640 , version 1
DOI : 10.1007/978-3-030-49695-1_38

Citer

Vamsi Krishna K Guda, Damien Chablat, Christine Chevallereau. Safety in a Human Robot Interactive: Application to Haptic Perception. Virtual, Augmented and Mixed Reality. Design and Interaction, pp.562-574, 2020, ⟨10.1007/978-3-030-49695-1_38⟩. ⟨hal-02994640⟩

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Safety in a Human Robot Interactive: Application to Haptic Perception

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