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We introduce a novel simulation-based approach to identify hazards thatresult from unexpected worker behavior in human-robot collaboration.Simulation-based safety testing must take into account the fact that humanbehavior is variable and that human error can occur. When only the expectedworker behavior is simulated, critical hazards can remain undiscovered. On theother hand, simulating all possible worker behaviors is computationallyinfeasible. This raises the problem of how to find interesting (i.e.,potentially hazardous) worker behaviors given a limited number of simulationruns. We frame this as a search problem in the space of possible workerbehaviors. Because this search space can get quite complex, we introduce thefollowing measures: (1) Search space restriction based on workflow-constraints,(2) prioritization of behaviors based on how far they deviate from the nominalbehavior, and (3) the use of a risk metric to guide the search towardshigh-risk behaviors which are more likely to expose hazards. We demonstrate theapproach in a collaborative workflow scenario that involves a human worker, arobot arm, and a mobile robot.

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