Research on human-robot interaction Security Strategy of Movement authorization for service robot Based on people's attention monitoring

摘要

This paper puts forward a kind of movement behavior planning method of service robot based on the responsibility analysis of accident responsibility and designs a set of security interactive strategy based on the human's attention to robot's action. In order to effectively avoid the human physical damage caused by the robot movement without realizing the dangerous behavior of the robot, we proposed a detecting method of people's awareness. The strategy in this paper adopts the method of real time on-line detection of human activity based on IMU, measuring the static attitude of human, at the mean time we use computer vision to evaluate people's attention to robot's behavior and carry out safety warning. Through strategic choice, it can stop the movement in a warning state and apply to a person for their authorization to effectively avoid harm people.