A proposal on determination of protective stop space of mobile servant robots for ISO13482

International Organization for Standardization(ISO)13482 global safety standard for service robots was issued in 2014, however, the details such as test methods for a given service robot product are still on-going work. This paper proposes a method for the determination of protective stop space of mobile servant robots so that the safeties related to the protective stop function can be verified. For this purpose, in addition to the robot's braking performance, we consider the relative velocity between the robot and a nearest safety-related object. And a mental safety, such as human comfort is also discussed since the robot's motion including stopping should be safe and comfortable. Though the simulation, we tested the proposed method.