Conference
Real-time 3D Collision Avoidance Method for Safe Human and Robot Coexistence
Abstract
A novel solution to the three-dimensional dynamic human-robot collision problem is presented. Sphere-based geometric models are used for the human and robot due to the efficiency of the distance computation. The collision avoidance algorithm searches for collision-free paths by moving theend-effector along a set of pre-defined search directions. An optimization method is employed to select the search direction that balances between the robot …
Authors
Balan L; Bone GM
Pagination
pp. 276-282
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
October 1, 2006
DOI
10.1109/iros.2006.282068
Name of conference
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems