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Reactive Collision Avoidance Strategies for Robots in direct Human-Robot Interaction

Belder, Rico (2010) Reactive Collision Avoidance Strategies for Robots in direct Human-Robot Interaction. Diploma. DLR-Interner Bericht. DLR-IB 515-2010/11, 112 S.

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Abstract

In the near future robots are sought to become an integral part of human everyday life. Also in industrial settings robotic Co-Workers are expected to become a commodity. Even though the particular application areas may vastly change, a robot always needs to act in a dynamic and partially unknown environment. It shall reactively generate motions and prevent upcoming collisions. If contact is desired or inevitable, it has to handle it robustly and safely. In order to evaluate existing algorithms an extensive simulation environment with test scenarios of rising complexity in 2D, 3D, and 6D was developed. After an initial analysis in rather complex 2D simulations, particularly well suited ones were extended to 3D as well as 6D, and combined into a hybrid strategy. Finally, the 6D MATLAB/Simulink/StateFlow implementation of a hybrid Circular & Potential Fields approach is used to perform the experimental analysis for static multi-object parcours and to avoid dynamically moving humans in a 6D task motion. Furthermore, we developed and tested a high-performance algorithm for tactile exploration of complex planar 3D wire elements, whose structure is a-priori unknown.

Document Type:Monograph (DLR-Interner Bericht, Diploma)
Title:Reactive Collision Avoidance Strategies for Robots in direct Human-Robot Interaction
Authors:
AuthorsInstitution or Email of Authors
Belder, RicoTU Dresden
Date:13 August 2010
Number of Pages:112
Status:Published
Keywords:collision avoidance, Human-Robot Interaction, LWR III, Co-Worker, Circular Fields, reaktive motion generation
Institution:TU Dresden
Department:Fakultät für Elektro- und Informationstechnik
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Leistungszentrum Robotik - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Jessica Laskey
Deposited On:06 Dec 2010 11:11
Last Modified:06 Dec 2010 11:11

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