In the Robot Performance & Safety Lab, we analyze and quantize the performance and safety characteristics of collaborative robots. For assessing robot performance in HRI settings, we develop reference setups and define and carry out benchmark experiments with various robots. For analyzing human safety, we develop collision test setups (e.g., drop test & pendulum) and conduct impact experiments to understand the human injury biomechanics and the influence of robot parameters on human injury probability. We have several antropomorphic collision test devices, such as a Hybrid III crash-test dummy and a Pilz PRMS, and sensors for measuring all important quantities during collisions, e.g. force, acceleration, pressure. In our HRI setups, we embed the knowledge gained from the performance and safety analysis into novel control and planning schemes and showcase our research results.
Team
Ph.D. Saeed Abdolshah, M.Sc. Mazin Hamad, M.Sc. Robin Kirschner, M.Sc. Alexander Kurdas, M.Sc. Nico Mansfeld.
Contact and location
Lab coordinator: Dr. Saeed Abdolshah
Lab manager: M.Sc. Robin Kirschner
MIRMI - Munich Institute of Robotics and Machine Intelligence
Carl-Zeiss-Straße 8
85748 Garching bei München
Room: EG. 0.19
Publications
2022
- R. J. Kirschner, F. Martineau, N. Mansfeld, S. Abdolshah, S. Haddadin, "Manual Maneuverability: Metrics for Analysing and Benchmarking Kinesthetic Robot Guidance." accepted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
- C. M. Valle, A. A. Kurdas, E. P. Fortunić, S. Abdolshah, S. Haddadin, "Real-Time IMU-Based Learning: A Classification of Contact Materials." accepted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
- G. Gómez Peña, M. Hamad, A. Kurdas, S. Abdolshah, S. Haddadin, "Global Safety Characteristics of Wheeled Mobile Manipulators." accepted to the IEEE 18th International Conference on Automation Science and Engineering (IEEE CASE2022).
- A. Kurdas, M. Hamad, J. Vorndamme, N. Mansfeld, S. Abdolshah, S. Haddadin, "Online Payload Identification for Tactile Robots Using the Momentum Observer." In 2022 International Conference on Robotics and Automation (ICRA), pp. 5953-5959. IEEE, 2022.
- T. Steinecker, A. Kurdas, N. Mansfeld, M. Hamad, R. J. Kirschner, S. Abdolshah, S. Haddadin, "Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction." In 2022 International Conference on Robotics and Automation (ICRA), pp. 11209-11215. IEEE, 2022.
- M. Eckhoff, J. Kirschner, S. Abdolshah, S. Haddadin, "An MPC Framework For Planning Safe & Trustworthy Robot Motions." In 2022 International Conference on Robotics and Automation (ICRA), pp. 4737-4742. IEEE, 2022.
- J. Kirschner, H. Mayer, L. Burr, N. Mansfeld, S. Abdolshah, S. Haddadin, "Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction." IEEE Robotics and Automation Letters 7, no. 2 (2022): 2993-3000.
2021
- R. J. Kirschner, J. Pedro Jantalia, N. Mansfeld, S. Abdolshah, S. Haddadin, "CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems." In 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 3590-3596. IEEE, 2021.
- R. J. Kirschner, A. Kurdas, K. Karacan, P. Junge, A. Baradaran Birjandi, N. Mansfeld, S. Abdolshah, S. Haddadin, "Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking." In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4290-4297. IEEE, 2021.
- A. Palleschi, M. Hamad, S. Abdolshah, M. Garabini, S. Haddadin, L. Pallottino, "Fast and Safe Trajectory Planning: Solving the Cobot Performance/Safety Trade-off in Human-Robot Shared Environments.", vol.6, no. 3, IEEE Robotics and Automation Letters (RA-L), 2021.
- R. J. Kirschner, N. Mansfeld, G. Gómez Peña, S. Abdolshah, S. Haddadin, "Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066." In 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR) (pp. 28-32). IEEE.
- R. J. Kirschner, N. Mansfeld, S. Abdolshah, S. Haddadin, "Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066." In 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR) (pp. 28-32). IEEE.
- R. J. Kirschner, L. Burr, M. Porzenheim, H. Mayer, S. Abdolshah, S. Haddadin, "Involuntary Motion in Human-Robot Interaction: Effect of Interactive User Training on the Occurrence of Human Startle-Surprise Motion." In 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR) (pp. 28-32). IEEE.
- M. Hamad, A. Kurdas, S. Abdolshah, S. Haddadin, "A Robotics Perspective on Experimental Injury Biomechanics of Human Body Upper Extremities." In 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR) (pp. 28-32). IEEE.
- M. Hamad, A. Kurdas, S. Abdolshah, S. Haddadin, "Experimental Injury Biomechanics of Human Body Upper Extremities: Anatomy, Injury Severity Classification, and Impact Testing Setups." In 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR) (pp. 28-32). IEEE.
2019
- M. Hamad, N. Mansfeld, S. Abdolshah, S. Haddadin, "The Role of Robot Payload in the Safety Map Framework." In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 195-200, 2019.