A Human-Safe Control for Collision Avoidance by a Redundant Robot Using Visual Information

机译：使用视觉信息的冗余机器人的人为避免碰撞控制

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With the rapid development of service robots, avoiding collisions with human beings is a most important requirement of robot control. In this chapter, we propose a method in which a virtual potential field around a robot is established by stereovision to implement collision avoidance by using its redundant joints, while simultaneously completing a contact task with its hand. The effectiveness of the proposed method has been demonstrated by experiments.

机译：随着服务机器人的飞速发展，避免与人的碰撞是机器人控制的最重要要求。在本章中，我们提出了一种方法，在该方法中，stereovision建立了机器人周围的虚拟势场，以利用其多余的关节来实现防撞，同时完成与手的接触任务。实验证明了该方法的有效性。

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《International Symposium on Systems and Human Science; 20031119-20; Osaka(JP)》|2003年|P.425427-437|共12页
会议地点 Osaka(JP)
作者
Jian Huang; Isao Todo;
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Graduate School of Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 240-8501, Japan;

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正文语种 eng
中图分类系统科学;
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专利

1. Collision Avoidance for Redundant Robots in Position-Based Visual Servoing [J] . Haobin Shi, Jialin Chen, Wei Pan, IEEE systems journal . 2019,第3期

机译：基于位置的视觉伺服中冗余机器人的防撞
2. Adaptive neural controller for redundant robot manipulators and collision avoidance with mobile obstacles [J] . Boubaker Daachi, Tarek Madani, Abdelaziz Benallegue Neurocomputing . 2012,第期

机译：用于冗余机器人操纵器的自适应神经控制器以及与移动障碍物的避碰
3. Smooth transition for collision avoidance of redundant robots: An on-line polynomial approach [J] . Henrique Simas, Raffaele Di Gregorio Robotics and Computer-Integrated Manufacturing . 2021,第Deca期

机译：碰撞避免冗余机器人的平滑过渡：在线多项式方法
4. A Human-Safe Control for Collision Avoidance by a Redundant Robot Using Visual Information [C] . Jian Huang, Isao Todo, Osaka University, International Symposium on Systems and Human Science . 2005

机译：使用可视信息，通过冗余机器人进行避免的人力安全控制
5. Force control and collision avoidance strategies for kinematically redundant manipulators [D] . Shadpey, Farshid 1998

机译：运动学冗余机械手的力控制和避免碰撞策略
6. A New Noise-Tolerant Obstacle Avoidance Scheme for Motion Planning of Redundant Robot Manipulators [O] . Dongsheng Guo, Feng Xu, Laicheng Yan, 2018

机译：冗余机器人机械手运动规划的一种新的噪声容忍避障方案
7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。
8. Obstacle avoidance for redundant robots using configuration control [R] . NONE, et al. 1992

机译：使用配置控制的冗余机器人的障碍避免

A Human-Safe Control for Collision Avoidance by a Redundant Robot Using Visual Information

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