Adaptive Motion Planning for a Collaborative Robot Based on Prediction Uncertainty to Enhance Human Safety and Work Efficiency.
Akira KanazawaJun KinugawaKazuhiro KosugePublished in: IEEE Trans. Robotics (2019)
Keyphrases
- motion planning
- humanoid robot
- mobile robot
- trajectory planning
- degrees of freedom
- robot arm
- path planning
- multi robot
- autonomous mobile robot
- robotic arm
- human robot interaction
- human robot
- obstacle avoidance
- manipulation tasks
- robotic tasks
- inverse kinematics
- climbing robot
- collision free
- belief space
- mechanical systems
- configuration space
- dynamic environments
- control law
- human users
- pose estimation
- visual servoing
- closed loop
- multi modal
- robot behavior
- viewpoint
- computer vision