Enforcing Constraints for Dynamic Obstacle Avoidance by Compliant Robots
Leonidas Koutras,Konstantinos Vlachos,George S. Kanakis,Fotios Dimeas,Zoe Doulgeri,George A. Rovithakis,Leonidas Koutras,Konstantinos Vlachos,George S. Kanakis,Fotios Dimeas,Zoe Doulgeri,George A. Rovithakis
In this work a control scheme is proposed to enforce dynamic obstacle avoidance constraints to the full body of actively compliant robots. We argue that both compliance and accuracy are necessary to build safe collaborative robotic systems; obstacle avoidance is usually not enough, due to the reliance on perception systems which exhibit delays and errors. Our scheme is able to successfully avoid o...
