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General danger-evaluation method of human-care robot control and development of special simulator

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3 Author(s)
K. Ikuta ; Sch. of Eng., Nagoya Univ., Japan ; M. Nokata ; H. Ishii

Proposes a safety evaluation method for use in various kinds of control strategies for human-care robots. In the case of a careless collision between a robot and a human, impact force and impact stress are chosen as evaluation measures, and a danger-index is defined to quantitatively evaluate the effectiveness of each safety strategy used for control. As in a previous paper on safety design, this proposed method allows us to assess the contribution of each safety control strategy to the overall safety performance of a human-care robot. In addition, a new type of 3D robot simulation system for danger-evaluation is constructed on PC. The system simplifies to evaluate danger about both design and control of various kind of human-care robots to quantify the effectiveness of various safety strategies.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

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