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Collision avoidance for human-robot interaction distinguishing between static and dynamic obstacles

: Zube, Angelika; Frese, Christian

Volltext urn:nbn:de:0011-n-3826828 (197 KByte PDF)
MD5 Fingerprint: 96b14234b89072ce743721edf923d70f
Erstellt am: 30.3.2016

TU München:
8th International Workshop on Human-Friendly Robotics, HFR 2015. Proceedings. Online resource (Nicht mehr online verfügbar) : Munich, Germany October 21 - 23, 2015
München, 2015
1 S.
International Workshop on Human-Friendly Robotics (HFR) <8, 2015, Munich>
European Commission EC
FP7-ICT; 287513; SAPHARI
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

In this contribution, a Model Predictive Control approach for collision avoidance of (mobile) manipulators is extended to handle static and dynamic obstacles in a different way. This is necessary to allow the robot to move close to known static obstacles like tables and at the same time to maximize the distance to dynamic obstacles like humans to ensure safety. However, in both cases collision avoidance has to be guaranteed.