Kinetostatic danger field - a novel safety assessment for human-robot interaction

@article{Lacevic2010KinetostaticDF,
  title={Kinetostatic danger field - a novel safety assessment for human-robot interaction},
  author={Bakir Lacevic and Paolo Rocco},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2010},
  pages={2169-2174}
}
This paper presents a novel method for evaluating the danger within the environment of a robot manipulator. It is based on the introduced concept of kinetostatic danger field, a quantity that captures the complete state of the robot - its configuration and velocity. The field itself is invariant with respect to objects around the robot and can be computed in any given point of the workspace using measurements from the proprioceptive sensors. Moreover, all the computation can be performed in… CONTINUE READING
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