Abstract
A safety-ensuring systematic design procedure is proposed that allows service robots to be designed to perform predefined tasks in which safety is guaranteed. To cope with the safety problem, the safety target is defined, the hazards associated with predefined tasks are identified, and the risks are analyzed. In addition, the proposed method considers risk reduction measures in all steps of robot design and verifies whether the safety target is achieved. Through the use of the proposed design procedure, it is shown as an example that a care-providing robot for physically disabled people can be designed.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Castejon, C., Blanco, D., Kadhim, S.H., Moreno, L.: Predesign an anthromorphic lightweight manipulator. 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Part 9, 551–558 (2005)
Hirzinger, G., Albu-Schaeffer, A., Hahnle, M., Schaefer, I., Sporer, N.: On a new generation of torque controlled light-weight robots. In: 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, pp. 3356–3363 (2001)
Townsend, W.T.: The effect of transmission design on force- controlled manipulator performance. Ph.D. dissertation, Dept. Mech. Eng., MIT (1988)
Morita, T., Shibuya, K., Sugano, S.: Design and control of mobile manipulation system for human symbiotic humanoid: Hadaly-2. In: 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, pp. 1315–1320 (1998)
Morita, T., Iwata, H., Sugano, S.: Development of human symbiotic robot: WENDY. In: 1999 IEEE International Conference on Robotics and Automation, Detroit, pp. 3183–3188 (1999)
Arai, F., Kawaji, A., Fukuda, T., Matsuura, H., Ota, H.: Safety oriented mechanism and control using ER fluid in the joint. In: 1998 International Conference on Robotics and Automation, Leuven, Belgium, pp. 2482–2487 (1998)
Sakaguchi, M., Zhang, G., Furusho, J.: Modeling and motion control of an actuator unit using ER clutches. In: 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, pp. 1347–1353 (2000)
Yamada, Y., Hirasawa, Y., Huang, S., Umetani, Y., Suita, K.: Human-robot contact in the safeguarding space. IEEE/ASME Transactions on Mechatronics 2(4), 230–236 (1997)
Lim, H.-O., Tanie, K.: Human safety mechanisms of human-friendly robots: Passive viscoelastic trunk and passively movable base. International Journal of Robotics Research 19(4), 307–335 (2000)
Boccadamo, G., Schiavi, R., Sen, S., Tonietti, G., Bicchi, A.: Optimization and fail-safety analysis of antagonistic actuation for pHRI. In: Christensen, H.I. (ed.) European Robotics Symposium 2006, STAR 22, pp. 109–118 (2006)
Zinn, M., Khatib, O., Roth, B., Salisbury, J.K.: Towards a human-centered intrinsically-safe robotic manipulator. IEEE Robotics and Automation Magazine 11(2), 12–21 (2004)
Chang, P.H., Park, H.S.: Development of a Robotic Arm for Handicapped People: A Task-Oriented Design Approach. Autonomous robots 15(1), 81–92 (2003)
IEC 61508: Functional Safety of Electrical/Electronic/Programmable Electronic Safety-Related Systems. International Electrotechnical Commission, Geneva (1998)
Mckerrow, P.J.: Introduction to Robotics. Addison-Wesley, Reading (1991)
Park, J.Y., Chang, P.H., Yang, J.Y.: Task-oriented design of robot kinematics using the Grid Method. Advanced robotics 17(9), 879–907 (2003)
Bien, Z., Chung, M.J., Chang, P.H., Kwon, D.S., et al.: Integration of a Rehabilitation Robotic System (KARES II) with Human-Friendly Man-Machine Interaction Units. Autonomous robots 16(2), 165–191 (2004)
Stancliff, S.B., Dolan, J., Trebi-Ollennu, A.: Towards a Predictive Model of Mobile Robot Reliability. Technical report, Carnegie Mellon University, CMU-RI-TR-05-38 (2005)
RIAC Databook Series: Nonelectronic Parts Reliability Data. IIT Research Institute (1995)
RIAC Databook Series: Electronic Parts Reliability Data. IIT Research Institute (1997)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Kim, ST., Chang, P.H. (2008). Safety-Ensuring Systematic Design for Service Robots. In: Helal, S., Mitra, S., Wong, J., Chang, C.K., Mokhtari, M. (eds) Smart Homes and Health Telematics. ICOST 2008. Lecture Notes in Computer Science, vol 5120. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69916-3_24
Download citation
DOI: https://doi.org/10.1007/978-3-540-69916-3_24
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-69914-9
Online ISBN: 978-3-540-69916-3
eBook Packages: Computer ScienceComputer Science (R0)