Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedGT<strong>10</strong> Lince <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 17:30–18:30<br />
Safety, Failure Handling and Recovery II<br />
Chair Erwin Prassler, Bonn-Rhein-Sieg Univ. of Applied Sciences<br />
Co-Chair<br />
17:30–17:45 WedGT<strong>10</strong>.1<br />
Dual back-stepping observer to anticipate the rollover<br />
risk in under/over-steering situations. Application to<br />
ATVs in off-road context.<br />
Mathieu Richier, Roland Lenain and Christophe Debain<br />
IRSTEA, France<br />
Benoit Thuilot,<br />
Institut Pascal, France<br />
• Rollover prevention thanks to the<br />
computation of a stability metric and a<br />
predictive algorithm<br />
• Observers estimating on-line the grip<br />
conditions and the slope: application to<br />
off-road conditions<br />
• Limitation to a low cost sensing<br />
equipment: allowing a practical<br />
applicability<br />
MF400H, Massey<br />
Fergusson quad bike used<br />
for experiments.<br />
18:00–18:15 WedGT<strong>10</strong>.3<br />
Psychological Experiments on Avoidance Action<br />
Characteristics for Estimating Avoidability<br />
of Harm to Eyes from Robots<br />
Takamasa Hattori 1 , Yoji Yamada 1 , Shuji Mori 2 ,<br />
Shogo Okamoto 1 , and Susumu Hara 1<br />
1 Graduate School of Engineering, Nagoya University, Japan<br />
2 Faculty of Information Science and Electrical Engineering,<br />
Kyushu University, Japan<br />
• Psychological experiments are conducted<br />
to investigate harm-avoidance action<br />
characteristics in humans in close contact<br />
with robotic devices.<br />
• A situation is created in which the sharp<br />
end-effector tip of a robot suddenly<br />
approaches the eyes of a facing participant.<br />
• The results suggest that the reaction time<br />
on avoidance actions does not depend on<br />
the type of work being performed but on the<br />
initial distance between the human’s eyes<br />
and the approaching object.<br />
Participant<br />
Motion capture system<br />
Bearing<br />
End effector<br />
Robot<br />
17:45–18:00 WedGT<strong>10</strong>.2<br />
Towards Learning of Safety Knowledge from<br />
Human Demonstrations<br />
P. Ertle 1 , M. Tokic 2,3 , R. Cubek 2 , H. Voos 4 , D. Söffker 1<br />
1 University of Duisburg-Essen<br />
2 University of Applied Sciences of Ravensburg-Weingarten<br />
3 University of Ulm<br />
4 University of Luxembourg<br />
• Future autonomous service robots shall<br />
operate in open and complex<br />
environments which implies complications<br />
ensuring safe operation.<br />
• Hazardous environmental object<br />
interactions can occur.<br />
• A safety procedure is described, learning<br />
safety knowledge from human<br />
demonstration .<br />
• Several supervised learning techniques<br />
are evaluated.<br />
• Results indicate that Decision Trees allow<br />
interesting opportunities.<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–192–<br />
Learned decision tree for safely<br />
handling an iron in an ironing task<br />
18:15–18:30 WedGT<strong>10</strong>.4<br />
A truly safe robot has to know what injury it may<br />
cause<br />
S. Haddadin, S. Haddadin, A. Khoury, T. Rokahr, S. Parusel,<br />
R. Burgkart, A. Bicchi, and A. Albu-Schäffer<br />
Robotics and Mechatronics Center, DLR<br />
• Introduce soft-tissue injury classification<br />
to robotics<br />
• Generate missing medical data<br />
(mass,velocity,curvature)� injury via<br />
drop-testing<br />
• Associate primitive based decomposition<br />
of robot structure with drop-testing<br />
results<br />
• Take into account robot dynamics and<br />
curvature for biomechanically safe<br />
velocity control<br />
• Effect: even in case of unwanted collision<br />
with potentially dangerous curvatures the<br />
robot is not able to cause any harm<br />
• Relevance not only to robotics but also to<br />
medicine and biomechanics