IEEE International Conference on Robotics and Automation (ICRA) 2023
Towards Safe Remote Manipulation: User Command Adjustment based on Risk Prediction for Dynamic Obstacles
Towards Safe Remote Manipulation: User Command Adjustment based on Risk Prediction for Dynamic Obstacles
Korea Advanced Institute of Science and Technology (KAIST)
Video (6 min):
Supplementary video:
Abstract:
Real-time remote manipulation requires careful
operations by a user to ensure the safety of a robot, which is
designed to follow user's commands, against dynamic obstacles.
However, a user may give commands to a robot at the risk
of collision with dynamic obstacles due to a user's unfamiliar
control ability or unexpected situations. In this paper, we
propose a risk-aware user command adjustment method to
avoid potential collision with dynamic obstacles. Our method
consists of a network that predicts the risk of dynamic obstacles
and another network that synthesizes commands to avoid
obstacles. Based on the predicted risk, our method decides an
adjusted command between a user command and a command
to avoid collisions. We evaluate our method in problems that
face collisions with dynamic obstacles when following given
commands and in problems with static obstacles. We show
that our method improves safety against the risk of dynamic
obstacles or follows user commands when there is no risk. We
also demonstrate the feasibility of our method using the real
fetch manipulator with seven-degrees-of-freedom.
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Paper:
paper.pdf