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 in three categories, i.e., override, temporary override, and proactive. Activation and deactivation of these behaviors is triggered by information coming from the robot sensors and is handled by a state machine. The implementation of our safety framework is discussed with respect to a reference control architecture. In particular, it is shown that an MPC-based gait generator is ideal for realizing all behaviors related to locomotion. Simulation and experimental results on the HRP-4 and NAO humanoids, respectively, are presented to confirm the effectiveness of the proposed method.

我们提出了一个完整的框架，用于在包含人类的环境中安全部署类人机器人。根据一些一般准则，我们提出了几种安全行为，分为三类，即超控，临时超控和主动。这些行为的激活和取消激活由来自机器人传感器的信息触发，并由状态机处理。我们针对参考控制体系结构讨论了我们的安全框架的实现。特别是，它表明基于MPC的步态生成器是实现与运动有关的所有行为的理想选择。分别对HRP-4和NAO类人动物进行了仿真和实验结果，证实了该方法的有效性。