Multiple levels of safety measures are required by multiple interaction modes which collaborative robots need to perform industrial tasks with human co-workers. We develop three independent modules to account for safety in different types of human-robot interaction: vision-based safety monitoring pauses robot when human is present in a shared space; contact-based safety monitoring pauses robot when unexpected contact happens between human and robot; hierarchical intention tracking keeps robot in a safe distance from human when human and robot work independently, and switches robot to compliant mode when human intends to guide robot. We discuss the prospect of future research in development and integration of multi-level safety modules. We focus on how to provide safety guarantees for collaborative robot solutions with human behavior modeling.

翻译：协作机器人在与人类同事执行工业任务时，需要多种交互模式，相应地也需要多层次的安全措施。我们开发了三个独立模块来处理不同类型人机交互中的安全问题：基于视觉的安全监控在人类进入共享空间时暂停机器人；基于接触的安全监控在人类与机器人发生意外接触时暂停机器人；分层意图跟踪在人类与机器人独立工作时保持机器人处于安全距离，并在人类意图引导机器人时切换至顺从模式。我们探讨了开发与集成多层级安全模块的未来研究方向，重点关注如何通过人类行为建模为协作机器人解决方案提供安全保障。