Contact Anticipation for Physical Human–Robot Interaction with Robotic Manipulators using Onboard Proximity Sensors
Caleb Escobedo,Matthew Strong,Mary West,Ander Aramburu,Alessandro Roncone,Caleb Escobedo,Matthew Strong,Mary West,Ander Aramburu,Alessandro Roncone
In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is insufficient, as human–robot contact is inevitable and, in some situations, desired. Our work enables manipulators to anticipate, detect, and act on contact. To achiev...
