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.
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收藏
页码：425 / +
页数：12
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