A behavior-based framework for safe deployment of humanoid robots

Abstract We present a complete framework for the safe deployment of humanoid robots in environments containing humans. Proceeding from some general guidelines, we propose several safety behaviors, classified three categories, i.e., override, temporary and proactive. Activation deactivation these behaviors is triggered by information coming robot sensors handled state machine. The implementation our discussed with respect to reference control architecture. In particular, it shown that an MPC-based gait generator ideal realizing all related locomotion. Simulation experimental results on HRP-4 NAO humanoids, respectively, are presented confirm effectiveness proposed method.