3
2012.
Sensor-based trajectory generation for safe human-robot cooperation
This paper presents a strategy for sensor-based trajectory generation in unstructured environments which guarantees the achievement of the goal position without incurring in local minima. The passivity of the closed-loop system renders this control scheme well-suited for human-robot cooperation, especially when the robot is supposed physically interact with humans. The given control law has been implemented and experimentally tested in a realistic scenario, demonstrating the effectiveness in driving the robot to a given configuration in a cluttered environment without any offline planning phase.