Learn More
We argue that an ability to determine the reversibility of actions allows a robot to identify safe behaviors autonomously. We introduce a notion of reversibility model and give a definition of model refinement. We implement this on a real robot and observe that, when a reversibility model is refined by the addition of proximity sensors, obstacle avoidance(More)
This article presents the implementation of an innovative safety module for a robot control architecture. It applies the principle of reversibility to assess intrinsic safety of actions and to adapt robot's behavior. The underlying idea is that all reversible actions are intrinsically safe. A practical experiment is conducted to demonstrate the approach.(More)
  • 1