基于行为检测的机器人安全保护方法.pdfVIP

第 43 卷第8 期 Vo l. 43 No.8 计算机科学 2016 年 8 月 Computer Science Aug 2016 基于行为检测的机器人安全保护方法 戈斌斌毛新军 (国防科学技术大学计算机学院 长沙 410073) 摘 要 机器人是一类典型的信息物理融合系统，由软件控制的机器人行为存在多种形式的安全问题。为了避免这 些问题，提出一种基于行为检测的机器人安全保护方法。行为检测是指通过检测机器人执行行为之前和之后的状态， 判断机器行为是否安全。该方法针对硬件限制、稳定性和碰撞冲突 3 个方面的行为安全问题，支持机器人执行行为之 前对其进行建模和检测，提出碰撞冲突检测算法ACD。基于 AOP技术实现该安全保护方法。基于 NAO机器人开展 了若干场景的实验，结果表明该方法可有效检测出危害机器人安全的行为并及时做出相应动作补偿。 关键词 行为检测，机器人安全，AOP 中固法分类号 TP3口 文献标识码 A 001 10. 11896/j. issn. 1002-137X. 2016. 8. 037 Method for Ensuring Safety of Robot Based on Behavior Detωion GE Bin-bin MAO Xin-jun CCollege of Computer.National University of Defense Technology.Changsha 410073.China) Abstract Robot is a typical cyber-physical system and its behaviors that are driven and controlled by software are high- ly 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 algo- rithm 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. Keyw舰也 Behavior detecting ,Robot safety ,AOP 据相关调查分析，机器人