TACTO-Selector: Enhanced Hierarchical Fusion of PBVS with Reactive Skin Control for Physical Human-Robot Interaction
Ana Elvira H. Martin,Emmanuel Dean-Leon,Gordon Cheng,Ana Elvira H. Martin,Emmanuel Dean-Leon,Gordon Cheng
In a physical Human-Robot Interaction for industrial scenarios is paramount to guarantee the safety of the user while keeping the robot's performance. Hierarchical task approaches are not sufficient since they tend to sacrifice the low priority tasks in order to guarantee the consistency of the main task. To handle this problem, we enhance the standard hierarchical fusion by introducing a novel in...
