5 accepted papers
Current safety mechanisms implementing industry standards for human-robot coexistence separate humans and robots through caging. Other approaches allowing humans to enter the workspace of manipulators do not provide formal safety guarantees. Thus, this study aims to facilitate the widespread adoptio…
Humans must remain unharmed during their interaction with robots. We present a new method guaranteeing impact force limits when humans and robots share a workspace. Formal guarantees are realized using an online verification method, which plans and verifies fail-safe maneuvers through predicting rea…
Flexible manufacturing and automation require robots that can be adapted to changing tasks. We propose to use modular robots that are customized from given modules for a specific task. This work presents an algorithm for proposing a module composition that is optimal with respect to performance metr…
Model-based design of robotic systems has many advantages, among them faster development cycles and reduced costs due to early detections of design flaws. Approximate models are sufficient for many classical robotic applications; however, they no longer suffice for safety-critical applications. For…
Mobile robots operating in a shared environment with pedestrians are required to move provably safe to avoid harming pedestrians. Current approaches like safety fields use conservative obstacle models for guaranteeing safety, which leads to degraded performance in populated environments. In this pap…