Human-robot coexistence and contact handling with redundant robots
Human-robot coexistence and contact handling with redundant robots
复制标题
人机共存以及冗余机器人的接触处理
DOI：
10.1109/iros.2017.8206331
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Alessandro De Luca
中科院分区：
文献类型：
--
作者：
Emanuele Magrini;Alessandro De Luca
We present further computational tools and control results in the framework of human-robot coexistence and collaboration. A GPU parallel processing algorithm is introduced for real-time monitoring of dynamic distances between a robot and generic obstacles moving in its environment, taking advantage of the handling of RGB-D data directly in the depth space of the sensor. Combined with the use of model-based residual signals, this approach allows efficient detection of contact points on the robot with simultaneous estimation of the exchanged contact forces. When the robot is kinematically redundant for the original task and undergoes a physical contact, a control scheme accommodates collaboration trying to preserve task execution, or reacts by abandoning the task if the estimated contact forces exceed some safety threshold. Experimental results are reported for a KUKA LWR.
DOI：
10.1109/iros.2007.4399208
发表时间：
2007-12
期刊：
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
Stefan Kuhn;D. Henrich
通讯作者：
Stefan Kuhn;D. Henrich