论文标题
运动计划结合了心理安全性和运动预测，以获取感动机器人
Motion Planning Combines Psychological Safety and Motion Prediction for a Sense Motive Robot
论文作者
论文摘要
人类安全是对人类机器人互动与协作（HRIC）（HRIC）的最重要需求，不仅是指物理安全，而且还包括心理安全。尽管许多具有不同配置的机器人都进入了我们的生活和工作环境，但人类安全问题仍然是人类机器人共存方案中持续的研究问题。本文通过涵盖身体安全和心理安全方面来解决人体安全问题。首先，我们根据人的面部表情引入了自适应机器人速度控制和步长调整方法，以便在人类情绪不寻常时可以调整其运动以保持安全性。其次，我们通过检测突然的人头姿势和凝视方向的变化来预测人类运动，以便机器人可以推断人的注意力是否会分散注意力，预测人类的下一步行动，并重建反击力量以避免潜在的碰撞。最后，我们在动态的HRIC环境中使用7 DOF TIAGO机器人展示了我们的想法，该机器人表明机器人变得有意义的动机，并响应人类的行动和情感迅速有效地变化。
Human safety is the most important demand for human robot interaction and collaboration (HRIC), which not only refers to physical safety, but also includes psychological safety. Although many robots with different configurations have entered our living and working environments, the human safety problem is still an ongoing research problem in human-robot coexistence scenarios. This paper addresses the human safety issue by covering both the physical safety and psychological safety aspects. First, we introduce an adaptive robot velocity control and step size adjustment method according to human facial expressions, such that the robot can adjust its movement to keep safety when the human emotion is unusual. Second, we predict the human motion by detecting the suddenly changes of human head pose and gaze direction, such that the robot can infer whether the human attention is distracted, predict the next move of human and rebuild a repulsive force to avoid potential collision. Finally, we demonstrate our idea using a 7 DOF TIAGo robot in a dynamic HRIC environment, which shows that the robot becomes sense motive, and responds to human action and emotion changes quickly and efficiently.
