Collision Avoidance with Proximity Servoing for Redundant Serial Robot Manipulators
Yitao Ding,Ulrike Thomas,Yitao Ding,Ulrike Thomas
Collision avoidance is a key technology towards safe human-robot interaction, especially on-line and fastreacting motions are required. Skins with proximity sensors mounted on the robot's outer shell provide an interesting approach to occlusion-free and low-latency perception. However, collision avoidance algorithms which make extensive use of these properties for fast-reacting motions have not ye...
