Forward Kinematics Kernel for Improved Proxy Collision Checking
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.2970645
Abstract: Kernel functions may be used in robotics for comparing different poses of a robot, such as in collision checking, inverse kinematics, and motion planning. These comparisons provide distance metrics often based on joint space measurements… read more here.
Keywords: collision; robotics; forward kinematics; proxy collision ... See more keywords
Hybrid Safety Certificate for Fast Collision Checking in Sampling-Based Motion Planning
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3223021
Abstract: Safety certificates in robot configuration space have been shown as an efficient collision checking method. However, this method can only be applied to very simple problems since constructing the configuration space obstacles is often intractable.… read more here.
Keywords: motion planning; safety; certificate; collision ... See more keywords
CollisionGP: Gaussian Process-Based Collision Checking for Robot Motion Planning
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3280820
Abstract: Collision checking is the primitive operation of motion planning that consumes most time. Machine learning algorithms have proven to accelerate collision checking. We propose CollisionGP, a Gaussian process-based algorithm for modeling a robot's configuration space… read more here.
Keywords: motion planning; collisiongp gaussian; collision; gaussian process ... See more keywords
Safe Human-Robot Collaboration via Collision Checking and Explicit Representation of Danger Zones
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2022.3167772
Abstract: This paper deals with safe human-robot collaboration in the context of speed and separation monitoring paradigm. The core of the approach is to continuously track the separation distance between the robot and the human. The… read more here.
Keywords: collision checking; human robot; robot; danger zones ... See more keywords