Comparison of Human Safety Metrics based on Safety, Efficiency and Comfort Criteria

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Coexistence of humans and robots requires a harmless, efficient and smooth interaction. Numerous efforts have been done to produce human-safe robot behaviors but comparing them (e.g., which one is safer or more efficient) remains a challenge. This is because they have parametric and approach differences when tackling the human safety problems. In this paper, we propose a method to compare human-safe robot behaviors by following three comparison criteria: safety, efficiency, and comfort. We perform simulation experiments making a human and a humanoid robot interact in a shared workspace to compare three human-safe robot behaviors as proof-of-concept. The results summarized in a radar graph show the trade-off between human safety, robot's efficiency and the comfort of the interaction.

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