A Human-Safe Control for Collision Avoidance by a Redundant Robot Using Visual Information

Publisher Summary With the rapid development of service robots, avoiding collisions with human beings is a most important requirement of robot control. This chapter proposes a control method by establishing a virtual potential field around a robot to avoid collisions between a human being and the robot by the redundant joints of the robot. The greatest advantage of the proposed method is that a possible collision can be avoided automatically without requiring any action by nearby human beings. A control method is also proposed for a redundant robot to simultaneously carry out a contact task with its hand and perform collision avoidance with its redundant joints. The effectiveness of the proposed method has been demonstrated by experiments.

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