By Topic

Towards safe real-time robot teleoperation: automatic whole-sensitive arm collision avoidance frees the operator for global control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Lumelsky, V. ; Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA ; Cheung, E.

Recent results in sensor-based motion planning suggest that the collision avoidance task can be handled automatically, thus freeing the operator for global control. Whole-sensitive arm manipulators bodies are covered with a sensitive skin sensor to detect nearby objects are proposed for this purpose. The data from the sensitive skin is used with the sensor data processing and motion planning algorithms to avoid collisions for the entire robot arm body in an unknown or time-varying environment. The result is a highly efficient, safe, and robust hybrid system in which the shift motion control between the operator and the automatic system is done transparently and in real-time. The motion of the master arm is either executed faithfully, or, to avoid collisions, is used as general guidance for the slave arm

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991