An MPC Framework For Planning Safe & Trustworthy Robot Motions
Moritz Eckhoff,Robin Jeanne Kirschner,Elena Kern,Saeed Abdolshah,Sami Haddadin,Moritz Eckhoff,Robin Jeanne Kirschner,Elena Kern,Saeed Abdolshah,Sami Haddadin
Strategies for safe human-robot interaction (HRI), such as the well-established Safe Motion Unit, provide a velocity scaling for biomechanically safe robot motion. In addition, psychologically-based safety approaches are required for trustworthy HRI. Such schemes can be very conservative and robot motion complying with such safety approaches should be time efficient within the robot motion plannin...
