Name
Abstract | ||
|---|---|---|
In this paper we propose a methodology to ensure safe behaviors of multibody robots in reactive control frameworks. The permanent satisfaction of constraints being insufficient to ensure safety, this approach focuses on the constraints expression: the compatibility between these constraints is studied, and safe alternatives are ensured when compatibility cannot be established. Case studies involving obstacles, joint position, velocity and acceleration limits illustrates the approach. A particular method is developed to take full advantage of a smooth state of the art avoidance techniques (Faverjon and Tournassoud in Proceedings of the 1987 IEEE international conference on robotics and automation, pp.聽1152---1159, 1987) while maintaining safety. Experiments involving a 6-DOF manipulator operating in a cluttered environment illustrate the reliability of the approach and validate the expected performances. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1007/s10514-011-9264-x | Auton. Robots |
Keywords | Field | DocType |
Robotic constraints,Constraints compliant control,Motion safety,Multibody robot safety,Safe reactive control | Compatibility (mechanics),Computer science,Simulation,Manipulator,Automation,Artificial intelligence,Acceleration,Robot,Reactive control,Robotics | Journal |
Volume | Issue | ISSN |
32 | 3 | 0929-5593 |
Citations | PageRank | References |
4 | 0.50 | 19 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sébastien Rubrecht | 1 | 11 | 1.14 |
| vincent padois | 2 | 168 | 15.26 |
| Philippe Bidaud | 3 | 41 | 4.32 |
| Michel Broissia | 4 | 4 | 0.50 |
| Max Da Silva Simoes | 5 | 4 | 0.50 |