A human-safe control for collision avoidance by a redundant robot using visual information

被引：0

作者：

Huang, H ^{[1
]}

Todo, I ^{[1
]}

机构：

[1] Yokohama Natl Univ, Grad Sch Engn, Hodogaya Ku, Yokohama, Kanagawa 2408501, Japan

来源：

SYSTEMS AND HUMAN SCIENCE - FOR SAFETY, SECURITY AND DEPENDABILITY | 2005年

关键词：

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

With the rapid development of service robots, avoiding collisions with human beings is a most important requirement of robot control. In this chapter, 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. The effectiveness of the proposed method has been demonstrated by experiments.

引用

页码：425 / +

页数：12

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