Being safe around the robot
Résumé
This paper is about cost based approaches for motion planning in HRI setups. A general approach (TRRT) developed at LAAS is presented as well as some previous cost based work on human aware motion generation. We also introduce a way to handle dangerous object using this approach: sharp edges and other dangerous object parts should never be directly exposed to the human. A cost function is computed to tackle this issue. Finally we are presenting first results about a new extension of TRRT which is used in HRI motion generation.
Origine : Fichiers produits par l'(les) auteur(s)
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