Computer Science ›› 2016, Vol. 43 ›› Issue (8): 183-189.doi: 10.11896/j.issn.1002-137X.2016.08.037

Previous Articles     Next Articles

Method for Ensuring Safety of Robot Based on Behavior Detection

GE Bin-bin and MAO Xin-jun   

  • Online:2018-12-01 Published:2018-12-01

Abstract: Robot is a typical cyber-physical system and its behaviors that are driven and controlled by software are highly related with safety.In order to ensure the safety of robot behaviors,this paper proposed a security protection method based on behavior detection that enables robot to detect its behaviors’ safety before their executions.Three kinds of safety issues were considered,including hardware constraints,stability and collision confliction.The corresponding algorithm called ACD algorithm for collision confliction detection was proposed.Implementation framework for the method was proposed on the basis of AOP technology.We made some experiments with NAO robots.The results indicate that the method can effectively detect harmful behaviors and adjust motions in compensation for behaviors.

Key words: Behavior detecting,Robot safety,AOP

[1] Hu Zheng.Review of Robotic Safety Engineering [J].ChinaMechanical Engineering,2004,15(4):370-375(in Chinese) 胡政.机器人安全性工程研究综述[J].中国机械工程,2004,15(4):370-375
[2] Andrew G.Brooks.Coordinating Human-Robot Communication[D].Massachusetts:Massachusetts Institute of Technology,2007
[3] Zhang Shi-xiang.Analyses and countermeasures on accidents of industrial robots [J].Industrial Safety & Dust Control,2002,28(3):26-29(in Chinese) 张世翔.关于工业机器人的事故分析及其对策[J].工业安全与保护,2002,28(3):26-29
[4] Feng Yuan-jing.Development of the safeguard system of parallel manipulator [J].Modular Machine Tool & Automatic Manufacturing Technique,2004(8):21-24(in Chinese) 冯远静.并联机器人安全保护系统的研究[J].组合机床与自动化加工技术,2004(8):21-24
[5] Liu Sheng-peng,Ye Hua.Design and Implement of Safety Protection System for Industry Welding Robot [C]∥Proceedings of 2009 Chinese Intelligent Automation Conference.2009:362-365(in Chinese) 刘升鹏,叶烨.工业焊接机器人安全保护系统的设计与实现[C]∥2009中国智能自动化会议论文集.2009:362-365
[6] Rahimi M.Framework for Software Safety Verification of In-dustrial Robot Operations[J].Computers & Industrial Engineering,1991,20(2):279-287
[7] Dhillon B S.Availability Analysis of a Robot with Safety System[J].Microelectronics & Reliability,1996,6(2):169-177
[8] Sirbi K.Stronger Enforcement of Security Using AOP& Spring AOP[J].Journal of Computing,2010,2(6):99-105
[9] Kiczales G.Aspect-Oriented Programming[M]∥11th European Conference on Object-Oriented Programming(ECOOP).Sprin-ger-Verlag LNCS,1997:220-242
[10] Wieber P B.On the Stability of Walking Systems[C]∥The 3rd IARP International Workshop on Humanoid and Human Friendly Robotics.2002
[11] Goswami A.Foot Rotation Indicator(FRI) Point:A New Gait Planning Tool to Evaluate Postural Stability of Biped Robots[C]∥IEEE International Conference on Robotics and Automation.1999:47-52
[12] Goswami A.Postural Stability of Biped Robots and Foot Rotation Indicator(FRI) Point[J].International Journal of Robotics Research,1999,8(6):523-533
[13] Denavit J,Hartenberg R S.A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices[J].Journal of Applied Mechanics,1955,2:215-221
[14] Shah S V,Saha S K.Denavit-Hartenberg Parameterization ofEuler Angles[J].Journal of Computational and Nonlinear Dynamics,2012,7(2):1-10
[15] Pu Song-hao,Zhong Qiu-bo.Intelligent Robot [M].Harbin:Institute of Technology Press,2012:71-81(in Chinese) 朴松昊,钟秋波.智能机器人[M].哈尔滨:哈尔滨大学出版社,2012:71-81
[16] Aldebaran Robotics.Nao Software Documentation .[2014-07-02].
[17] Mueggler E.Aerial-guided navigation of a ground robot among movable obstacles[C]∥2014 IEEE International Symposium on Safety,Security,and Rescue Robotics (SSRR).2014:1-9
[18] Aloulou A,Boubaker O.A Minimum Jerk-Impedance Controller for planning Stable and Safe Walking Patterns of Biped Robots[J].Mechanisms & Machine Science,2015:385-415
[19] Navarro S E,Hein B.Capacitive Tactile Proximity Sensing:From Signal Processing to Applications in Manipulation and Safe Human-Robot Interaction[M]∥Soft Robotics,2015:54-65

No related articles found!
Full text



[1] LEI Li-hui and WANG Jing. Parallelization of LTL Model Checking Based on Possibility Measure[J]. Computer Science, 2018, 45(4): 71 -75, 88 .
[2] XIA Qing-xun and ZHUANG Yi. Remote Attestation Mechanism Based on Locality Principle[J]. Computer Science, 2018, 45(4): 148 -151, 162 .
[3] LI Bai-shen, LI Ling-zhi, SUN Yong and ZHU Yan-qin. Intranet Defense Algorithm Based on Pseudo Boosting Decision Tree[J]. Computer Science, 2018, 45(4): 157 -162 .
[4] WANG Huan, ZHANG Yun-feng and ZHANG Yan. Rapid Decision Method for Repairing Sequence Based on CFDs[J]. Computer Science, 2018, 45(3): 311 -316 .
[5] SUN Qi, JIN Yan, HE Kun and XU Ling-xuan. Hybrid Evolutionary Algorithm for Solving Mixed Capacitated General Routing Problem[J]. Computer Science, 2018, 45(4): 76 -82 .
[6] ZHANG Jia-nan and XIAO Ming-yu. Approximation Algorithm for Weighted Mixed Domination Problem[J]. Computer Science, 2018, 45(4): 83 -88 .
[7] WU Jian-hui, HUANG Zhong-xiang, LI Wu, WU Jian-hui, PENG Xin and ZHANG Sheng. Robustness Optimization of Sequence Decision in Urban Road Construction[J]. Computer Science, 2018, 45(4): 89 -93 .
[8] LIU Qin. Study on Data Quality Based on Constraint in Computer Forensics[J]. Computer Science, 2018, 45(4): 169 -172 .
[9] ZHONG Fei and YANG Bin. License Plate Detection Based on Principal Component Analysis Network[J]. Computer Science, 2018, 45(3): 268 -273 .
[10] SHI Wen-jun, WU Ji-gang and LUO Yu-chun. Fast and Efficient Scheduling Algorithms for Mobile Cloud Offloading[J]. Computer Science, 2018, 45(4): 94 -99, 116 .