Robot Path Adaptation for Shared Human-Robot Workspaces

Conference paper


Angelika Zube
Alisa Jung
Christian Frese


Proceedings of the Workshop on Human-Friendly Robotics, 2014.


7th International Workshop on Human-Friendly Robotics (HFR), Pontedera, Italy, October 23 - 24, 2014

In shared human-robot workspaces, safety has to be ensured by monitoring humans and other obstacles in the robot’s environment and by performing suitable robot motions to avoid collisions. In this contribution, information from multiple depth sensors is fused in an octree representing the current obstacles in consideration of occlusions. Based on this octree, the previously planned robot path is adapted using elastic bands in order to prevent collisions with humans.