2A2-I10 Efficiency Evaluation of Asymmetric Velocity Moderation based on Task Completion Time(Robotics with Safety and Reliability)

Abstract

Using reactive strategies for human safety allows a physically closer Human-Robot Interaction. Nevertheless, these strategies lead to a trade-off between human safety and efficiency. We use our previously proposed method Asymmetric Velocity Moderation (AVM) which restricts the velocity of the robot considering not only the distance but also the direction of the motion. In this paper, we carried out new experiments to verify the efficiency of AVM by using a human-sized humanoid robot and five human subjects, and by measuring the task completion time.