A minimum swept-volume metric structure for configuration space

Yann, de Mont-Marin,; Ponce, Jean; Laumond, Jean–Paul

doi:10.1109/icra48891.2023.10161367

Cited by 1 publication

(2 citation statements)

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“…The swept-volume is defined as the volume generated from the sweeping of an object [1]. This approach has been used to generate more robust trajectories [2] or to enhance the collision detection module [3]. De Mont-Marin et al in [2] formulated the minimum sweptvolume distance and its geodetics and used them to improve the Rapidly-exploring Random Tree (RRT) motion planning algorithm.…”

Section: Related Workmentioning

confidence: 99%

“…This approach has been used to generate more robust trajectories [2] or to enhance the collision detection module [3]. De Mont-Marin et al in [2] formulated the minimum sweptvolume distance and its geodetics and used them to improve the Rapidly-exploring Random Tree (RRT) motion planning algorithm. Another work that used the swept-volume in the motion planner is [4].…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Collision-Free Volume Estimation Algorithm for Robot Motion Deformation

Miotto,

Gottardi,

Castaman

et al. 2023

2023 21st International Conference on Advanced Robotics (ICAR)

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The collaborative transport of objects between humans and robots is one of the main areas of focus in physical Human-Robot Interaction (pHRI). Ensuring the operator's safety and maintaining collision-free motion of the robot during transportation are crucial challenges in this context. Consider a collaborative co-manipulation scenario where the operator modifies the trajectory being executed by the robot. In such cases, the robot may deviate from its previously calculated path, potentially resulting in collisions.In this work, we propose a method to estimate the maximum collision-free volume around the path of the robot. This volume represents the permissible deviation introduced by the human worker while ensuring that no collisions occur. To evaluate the effectiveness of the proposed algorithm, we test it in a real industrial scenario.

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