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Robot path adaptation for shared human-robot workspaces

 
: Zube, Angelika; Jung, A.; Frese, Christian

:
Volltext urn:nbn:de:0011-n-3562416 (271 KByte PDF)
MD5 Fingerprint: eba5921131ab67264830cae197d4862c
Erstellt am: 20.8.2015


HFR 2014, 7th International Workshop on Human-Friendly Robotics. Detailed program. Online resource (Nicht mehr online verfügbar) : October 23-24, 2014, Pontedera, Italy
Pontedera, 2014
1 S.
International Workshop on Human-Friendly Robotics (HFR) <7, 2014, Pontedera>
European Commission EC
FP7-ICT; 287513; SAPHARI
Englisch
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

Abstract
In shared human-robot workspaces, safety has to be ensured by monitoring humans and other obstacles in the robot’s environment and by performing suitable robot motions to avoid collisions. In this contribution, information from multiple depth sensors is fused in an octree representing the current obstacles in consideration of occlusions. Based on this octree, the previously planned robot path is adapted using elastic bands in order to prevent collisions with humans.

: http://publica.fraunhofer.de/dokumente/N-356241.html