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A novel solution to the three-dimensional dynamic human-robot collision problem is presented. Sphere-based geometric models are used for the human and robot due to the efficiency of the distance computation. The collision avoidance algorithm searches for collision-free paths by moving the end-effector along a set of pre-defined search directions. An(More)
An algorithm for automatically generating a common jaw design and planning grasps for a given set of polyhedral objects is presented. The algorithm is suitable for a parallel-jaw gripper equipped with three cylindrical fingers. The common jaw design eliminates the need for custom made grippers and tool changing. The proposed jaw configuration and planning(More)
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