提出SARA防护框架，让机器人在人机协作中既安全又高效。
A General Safety Framework for Autonomous Manipulation in Human Environments
- 基于可达性分析分类接触类型，动态限制功率与力。
- 实测表明接触力低于人体痛感阈值，且机器人速度更快。
- 适合需要高安全性与高效率的工业人机协作场景。
自主机器人有望大幅增强人工劳动力，尤其在重复性与危险性任务中。为确保其在人类环境中的安全部署，必须保障人身安全。现有方法或过于保守，阻碍自然协作，或依赖不适用于自主机器人的强假设（如预设轨迹）。为此，本文提出基于可达性分析的SARA防护框架，实现自主操作中的人机协作安全。由于非约束接触产生的接触力远高于约束接触（即夹持），我们利用可达性分析对潜在接触类型进行形式化分类，并针对每类接触，验证机器人动能低于对应人体部位的疼痛与损伤阈值。实验表明，SARA框架在满足接触安全约束的同时，显著优于现有方法，提升了机器人性能。
原文摘要 · Abstract (English)
Autonomous robots are projected to significantly augment the manual workforce, especially in repetitive and hazardous tasks. For a successful deployment of such robots in human environments, it is crucial to guarantee human safety. State-of-the-art approaches to ensure human safety are either too conservative to permit a natural human-robot collaboration or make strong assumptions that do not hold for autonomous robots, e.g., knowledge of a pre-defined trajectory. Therefore, we propose the shield for Safe Autonomous human-robot collaboration through Reachability Analysis (SARA shield). This novel power and force limiting framework provides formal safety guarantees for manipulation in human environments while realizing fast robot speeds. As unconstrained contacts allow for significantly higher contact forces than constrained contacts (also known as clamping), we use reachability analysis to classify potential contacts by their type in a formally correct way. For each contact type, we formally verify that the kinetic energy of the robot is below pain and injury thresholds for the respective human body part in contact. Our experiments show that SARA shield satisfies the contact safety constraints while significantly improving the robot performance in comparison to state-of-the-art approaches.
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