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Erschienen in:
2014 | OriginalPaper | Buchkapitel
Reactive Pre-collision Strategies
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From a control point of view this monograph dealt to a large extent with physical collisions, their detection and following reaction up to now. Apart from such physical analysis and control, immanent injury can be diminished if the robot is able to reduce its impact speed or change its moving direction prior to the collision. Locally, the robot would circumvent the human or obstacle and avoid the impact completely. Therefore, it is of major importance to provide flexible motion generation methods, which take into account the possibly complex environment structure and at the same time can react quickly to changing conditions.