Being safe around the robot

This paper is about cost based approaches for motion planning in HRI setups. A general approach (TRRT) developed at LAAS is presented as well as some previous cost based work on human aware motion generation. We also introduce a way to handle dangerous object using this approach: sharp edges and other dangerous object parts should never be directly exposed to the human. A cost function is computed to tackle this issue. Finally we are presenting first results about a new extension of TRRT which is used in HRI motion generation.