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Safety control architecture for personal robots : behavioural suppression with deliberative control
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Woodman, Roger, Winfield, Alan, Harper, Chris and Fraser, Mike (2010) Safety control architecture for personal robots : behavioural suppression with deliberative control. In: 2010 Seventh IARP Workshop on Technical Challenges for Dependable Robots in Human Environments (DRHE), Toulouse, France, 16-17 Jun 2010
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WRAP-safety-control-architecture-personal-robots-Woodman-2010.pdf - Accepted Version - Requires a PDF viewer. Download (614Kb) | Preview |
Official URL: http://www.ieee.org/conferences_events/conferences...
Abstract
This paper presents a novel robot control architecture for use with personal robots, and argues its potential for improving the safety of these types of system, when compared to existing approaches. The proposed architecture design separates the control system into two distinct areas, one area responsible for safe operation and the other for coordinating tasks. The architecture design is formed in a hierarchical structure, composed of low-level deliberative control modules and high-level behavioural safety modules. It is argued that as a result of removing safety considerations from the design of task routines, increasingly complex tasks can be completed safely, which are both more flexible to environmental changes and easier to coordinate.
| Item Type: | Conference Item (Paper) | ||||
|---|---|---|---|---|---|
| Subjects: | T Technology > TJ Mechanical engineering and machinery | ||||
| Divisions: | Faculty of Science > WMG (Formerly the Warwick Manufacturing Group) | ||||
| Library of Congress Subject Headings (LCSH): | Personal robotics -- Safety measures, Robots -- Control systems, Human-robot interaction -- Safety measures | ||||
| Official Date: | 21 April 2010 | ||||
| Dates: |
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| Date of first compliant deposit: | 12 September 2017 | ||||
| Status: | Peer Reviewed | ||||
| Conference Paper Type: | Paper | ||||
| Title of Event: | 2010 Seventh IARP Workshop on Technical Challenges for Dependable Robots in Human Environments (DRHE) | ||||
| Type of Event: | Workshop | ||||
| Location of Event: | Toulouse, France | ||||
| Date(s) of Event: | 16-17 Jun 2010 | ||||
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