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2011.
Safety-Oriented Planning and Control Using Danger Field
This paper presents a framework for planning and control for the safe behavior of the robotic manipulators. The framework exploits the relations between robot, human and the environment to measure safety via quantity called danger field. According to the degree of danger, the robot reacts promptly, improving the human safety. Above the danger field based control, there is a global path planner that does not only provide the collision-free paths but strives for safer ones.