Abstract
In this paper, we propose a real-time self-collision avoidance system for robots which cooperate with a human/humans. First, the robot is represented by elastic elements. The representation method is referred to as RoBE (Representation of Body by Elastic elements). Elastic balls and cylinders are used as the elements to simplify collision detection, although elements of any shape could be used for RoBE. When two elements collide with each other, a reaction force is generated between them, and self-collision avoidance motion is generated by the reaction force. Experiments using the mobile robot with dual manipulators, referred to as MR Helper, illustrate the validity of the proposed system. © 2004 World Scientific Publishing Company.
| Original language | English |
|---|---|
| Pages (from-to) | 533-550 |
| Journal | International Journal of Humanoid Robotics |
| Volume | 1 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 1 Sept 2004 |
| Externally published | Yes |
Bibliographical note
Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].UN SDGs
This output contributes to the following UN Sustainable Development Goals (SDGs)
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SDG 3 Good Health and Well-being
Research Keywords
- Mobile manipulator
- RoBE
- Self-collision
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