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Yvain comments on A Brief Overview of Machine Ethics - Less Wrong
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Mechanized Deontic Logic is pretty okay, despite the dread I had because of the name. I'm no good at formal systems, but as far as I can understand it looks like a logic for proving some simple results about morality: the example they give is "If you should see to it that X, then you should see to it that you should see to it that X."
I can't immediately see a way this would destroy the human race, but that's only because it's nowhere near the point where it involves what humans actually think of as "morality" yet.
Utilibot Project is about creating a personal care robot that will avoid accidentally killing its owner by representing the goal of "owner health" in a utilitarian way. It sounds like it might work for a robot with a very small list of potential actions (like "turn on stove" and "administer glucose") and a very specific list of owner health indicators (like "hunger" and "blood glucose level"), but it's not very relevant to the broader Friendly AI program.
Having read as many papers as I have time to before dinner, my provisional conclusion is that Vladimir Nesov hit the nail on the head