Building Safer Robots: From Simulation to Hardware Deployment

Mirgita Frasheri*, Gill Lumer-Klabbers, Jakob Levisen Kvistgaard, Jacob Odgaard Hausted, Casper Thule, Lukas Esterle, Peter Gorm Larsen

*Corresponding author for this work

Research output: Contribution to journal/Conference contribution in journal/Contribution to newspaperConference articleResearch

Abstract

Robots represent a pervasive technology foreseen to have an integral role in our societies, across different domains, from elderly care to agricultural solutions. Therefore, it is crucial that their behaviour is thoroughly tested, to provide guarantees as to their intended safe operation around humans, other robots, equipment, and environment. Such testing should be performed throughout the different development stages, and is associated with several challenges that relate to cost, time, and resource management. In this paper, we address these issues by proposing a Digital Twin (DT) enabled approach that can be used in various development stages of robots, from pure simulation, to gradual introduction of hardware, to a complete robot with its DT. Additionally, it is possible to apply fault-injection at the interface level of the components on the DT side, while maintaining a best effort real-time communication between the former and the coupled hardware. We showcase the utility of the proposed approach through three proof of concept scenarios for a safety monitoring component of the system, with simulated faults at the component level, and on the data coming to the digital twin.

Original languageEnglish
Journal2023 27th International Conference on Methods and Models in Automation and Robotics, MMAR 2023 - Proceedings
Pages (from-to)63-68
Number of pages6
DOIs
Publication statusPublished - 2023
Event27th International Conference on Methods and Models in Automation and Robotics, MMAR 2023 - Virtual, Online, Poland
Duration: 22 Aug 202325 Aug 2023

Conference

Conference27th International Conference on Methods and Models in Automation and Robotics, MMAR 2023
Country/TerritoryPoland
CityVirtual, Online
Period22/08/202325/08/2023

Keywords

  • co-simulation
  • Digital twins
  • fault injection

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