Safety-Critical Manipulation for Collision-Free Food Preparation

نویسندگان

چکیده

Recent advances allow for the automation of food preparation in high-throughput environments, yet successful deployment these robots requires planning and execution quick, robust, ultimately collision-free behaviors. In this work, we showcase a novel framework modifying previously generated trajectories robotic manipulators highly detailed dynamic collision environments using Control Barrier Functions (CBFs). This method dynamically re-plans validated behaviors presence changing environments—and does so computationally efficient manner. Moreover, approach provides rigorous safety guarantees resulting trajectories, factoring true underlying dynamics manipulator. methodology is extensively on full-scale manipulator real-world cooking environment, has resulted substantial improvements computation time robustness over re-planning.

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ژورنال

عنوان ژورنال: IEEE robotics and automation letters

سال: 2022

ISSN: ['2377-3766']

DOI: https://doi.org/10.1109/lra.2022.3192634