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Social distance control for quadruped robots in a gated spike filter neural network framework

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Abstract

Ensuring safe human-robot interactions is a crucial concern in robotics research and development. However, controlling the social distance between quadruped robots and humans poses a significant challenge due to the large motion range of robots and the lack of specific social distance rules for human safety. This study proposes an innovative framework that integrates proxemic theory and ISO safety strategy to provide a new social distance control mechanism for human-quadruped robot interactions. The proposed framework uses a gated spike filter neural network (GSN) that fuses LiDAR and RGB-D data to estimate human-robot distance and ensures quantified human-robot social distance with continuous velocity limitations, which current approaches do not offer. The experimental results demonstrate that the GSN algorithm offers high accuracy and is well-suited for large-range human-robot distance control of quadruped robots. It has an average prediction error that is 31.4% lower than traditional Kalman filter methods and offers a more efficient and precise solution for real-time social distance control. Additionally, this study includes a detailed use case that demonstrates how to apply the proposed framework to human-quadruped robot interactions. Overall, this study’s findings have implications for improving the safety and efficiency of human-robot interactions in various applications.

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Availability of data and material

All data generated or analyzed during this study are included in this published article.

Code Availability

The code for the neural network architecture of GSN and a portion of the data are available online at https://gitee.com/shuaizhang_zju/gated-spike-filter-neural-network-framework.git. The entire code for the GSN framework will be released later.

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Acknowledgements

This research work received support from the National Natural Science Foundation of China (NO.32200890) and China Postdoctoral Science Foundation (NO.2022M712791).

Author information

Authors and Affiliations

  1. Center for Psychological Sciences, Zhejiang University, Hangzhou, 310063, China

    Shuai Zhang, Yongkai Li, Zehao Huang & Zhiguo Wang

  2. Department of Psychology, Zhejiang Sci-Tech University, Hangzhou, 310000, China

    Rong Wang

Authors
  1. Shuai Zhang
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  3. Zehao Huang
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  4. Rong Wang
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  5. Zhiguo Wang
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Contributions

Shuai Zhang and Zhiguo Wang conceived and designed the study. Yongkai Li designed the neural network. Shuai Zhang and Zehao Huang performed the experiments. Shuai Zhang wrote the paper. Shuai Zhang, Zhiguo Wang and Rong Wang reviewed and edited the manuscript. All authors read and approved the manuscript.

Corresponding authors

Correspondence to Shuai Zhang or Zhiguo Wang.

Ethics declarations

Ethics approval

The study was conducted in accordance with the Declaration of Helsinki, with the research protocol approved by the Institutional Review Board at the Center for Psychological Sciences, Zhejiang University (protocol code 2022-008, approved on 13 December 2022).

Consent to participate

Informed consent was obtained from all human subjects to participate in the study.

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Informed consent was obtained from the family to publish the data in an anonymized manner.

Conflict of interest statement

We declare that we have no financial or personal relationships with other people or organizations that influenced our work. There is no professional or other personal interest of any nature or kind in any product, service and/or company that could be construed as influencing the position presented in, or the review of, the manuscript.

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Zhang, S., Li, Y., Huang, Z. et al. Social distance control for quadruped robots in a gated spike filter neural network framework. Appl Intell 53, 24089–24105 (2023). https://doi.org/10.1007/s10489-023-04832-w

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