Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces
Xinghao Zhu,Wenzhao Lian,Bodi Yuan,C. Daniel Freeman,Masayoshi Tomizuka,Xinghao Zhu,Wenzhao Lian,Bodi Yuan,C. Daniel Freeman,Masayoshi Tomizuka
In recent years, impressive results have been achieved in robotic manipulation. While many efforts focus on generating collision-free reference signals, few allow safe contact between the robot bodies and the environment. However, in human's daily manipulation, contact between arms and obstacles is prevalent and even necessary. This paper investigates the benefit of allowing safe contact during ro...
