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Erschienen in:
2014 | OriginalPaper | Buchkapitel
Soft-Robotics Control
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Accidental collisions that may harm humans should be avoided by anticipating dangerous situations. The effects of physical collisions should be mitigated by having the robot react promptly so as to recover a safe operative condition. In the
pre-impact phase
, collision avoidance is the primary goal and requires (at least, local) knowledge of the current environment geometry and computationally expensive motion planning techniques. Anticipating initiating collisions or recognizing them in realtime is typically based on the use of additional external sensors, such as sensitive skins [23], on-board vision [13], strain gauges and force load cells.