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Developing quadratic programming constraints for human safety : an application of unified safety criteria to multi-task robot control

Bustraan, M.C. (2021) Developing quadratic programming constraints for human safety : an application of unified safety criteria to multi-task robot control.

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Abstract:As more and more applications of robots are in the vicinity of or in collaboration with humans, human safety is a topic of growing importance. The incorporation of human safety awareness into robotic manipulator control schemes has therefore become a broadly researched topic in recent years. At the same time, a lack of research on human safety in the context of balancing humanoid control methods has been identified. This paper seeks to make up for this lack by proposing an implementation of human safety awareness as inequality constraints for quadratic programs, an optimization process frequently used by humanoids and other multi-tasking robots. The proposed constraints are developed based on the mechanisms of human-robot collisions and the unification of measures used to assess the severity of human injuries. The constraints are then validated using a 6-DoF manipulator in 50 randomized scenarios. The results show that the constraints improve the overall safety of a human obstacle but cannot guarantee it due to insufficient robustness of the constraints.
Item Type:Essay (Master)
Clients:
Unknown organization, Netherlands
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:30 exact sciences in general, 33 physics, 50 technical science in general
Programme:Electrical Engineering MSc (60353)
Link to this item:http://purl.utwente.nl/essays/85887
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