Research paper

Online active safety · Staying outside predicted human reach

Human-position estimates update growing forward-reachable sets, while an invariance filter constrains the robot to their complement. The reported evaluation simulates an ABB IRB6640 industrial arm.

Reviewed 2026-11-05 · Source and bibliography checked

Bibliographic details and the editorial overview were checked against the original source. Access conditions and editions are identified with the source.

Original title: Online Active Safety for Robotic Manipulators
Publisher: IEEE
Authors: Andrew Singletary, Petter Nilsson, Thomas Gurriet, Aaron D. Ames
DOI: 10.1109/iros40897.2019.8968231
Publication date: 2019-11
Source language: en
Edition: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 2019-11; DOI 10.1109/iros40897.2019.8968231
Access: Publisher metadata and open author manuscript
Publication status: Published

Related resources and engineering notes

Turn each safety function into evidence

Source overview

Human-position estimates update growing forward-reachable sets, while an invariance filter constrains the robot to their complement. The reported evaluation simulates an ABB IRB6640 industrial arm.

Use and review

Institutional abstract and bibliography checked. Human-motion, measurement and response assumptions, plus hardware protection, require separate validation.

Sources & editions

Online Active Safety for Robotic Manipulators ↗

IEEE · 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 2019-11; DOI 10.1109/iros40897.2019.8968231

IROS2019 author abstract https://authors.library.caltech.edu/records/w91zz-nak35.