A Human-Safe Control for Collision Avoidance by a Redundant Robot Using Visual Information

نویسندگان

  • Jian HUANG
  • Isao TODO
چکیده

With the rapid development of service robots, avoiding collisions with human beings is a most important requirement of robot control. In this paper, we propose a method in which a virtual potential field around a robot is established by stereovision to implement collision avoidance by using its redundant joints, while simultaneously completing a contact task with its hand.

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تاریخ انتشار 2003