Testing Robot System Safety by Creating Hazardous Human Worker Behavior in Simulation

We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact human is variable and error can occur. When only expected simulated, critical remain undiscovered. On other hand, simulating xmlns:xlink="http://www.w3.org/1999/xlink">all possible behaviors computationally infeasible. This raises problem of how find xmlns:xlink="http://www.w3.org/1999/xlink">interesting (i.e., potentially hazardous) given limited number simulation runs. frame this as search space behaviors. Because get quite complex, we following measures: (1) Search restriction based on workflow-constraints, (2) prioritization far they deviate nominal behavior, (3) use risk metric guide towards high-risk which are more likely expose hazards. demonstrate collaborative workflow scenario involves worker, robot arm, mobile robot.