Online optimal motion generation with guaranteed safety in shared workspace
Pu Zheng,Pierre-Brice Wieber,Olivier Aycard,Pu Zheng,Pierre-Brice Wieber,Olivier Aycard
With new, safer manipulator robots, the probability of serious injury due to collisions with humans remains low (5%), even at speeds as high as 2 m.s-1. Collisions would better be avoided nevertheless, because they disrupt the tasks of both the robot and the human. We propose in this paper to equip robots with exteroceptive sensors and online motion generation so that the robot is able to perceive...
