5 accepted papers
We present an approach to safe physical Human-Robot Interaction (pHRI) for industrial robots, including collision detection, distinguishing accidental from intentional contacts, and achieving collaborative tasks. Typical industrial robots have a closed control architecture that accepts only velocity…
We present further computational tools and control results in the framework of human-robot coexistence and collaboration. A GPU parallel processing algorithm is introduced for real-time monitoring of dynamic distances between a robot and generic obstacles moving in its environment, taking advantage…
In this paper we present a real-time collision check algorithm based on the parallel computation capabilities of recent graphics card's GPUs. We show an effective application of the proposed algorithm to solve the task-constrained real-time motion planning problem for a redundant manipulator. We pro…
During human-robot collaboration tasks, we may physically touch the robot at a generic location and engage an intentional exchange of forces while realizing coordinated motion of the common contact point. In order to control the relative motion and the exchanged contact forces, the latter need to be…
During human-robot interaction tasks, a human may physically touch a robot and engage in a collaboration phase with exchange of contact forces and/or requiring coordinated motion of a common contact point. Under the premise of keeping the interaction safe, the robot controller should impose a desire…