In the RoKoRa project, the aim is to exclude hazards of humans by robots. For this purpose, compact radar systems are used. They offer many advantages: radars operate independently of any lighting and are largely insensitive to environmental conditions. In addition, radar sensors can measure not only the distance to the sensor, but also the motion vector of the detected targets.The sensor system to be developed significantly improves personnel safety in human-robot collaboration, resulting in new degrees of freedom for a safe cooperation with larger robots and at higher distance-dependent execution speeds. In the project, SCAI develops a software component for environmental perception for situational analysis and decision-making using methods of machine learning.