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This paper addresses the problem of collision avoidance in human-robot interaction. To this end, we introduce the concept of kinetostatic safety field, a novel safety assessment about the risk in the vicinity of a rigid body (including a robot link or a human body part). The safety field depends on the position and velocity of the body but it is also influenced by its real shape and size. Since all...
This paper presents a synergistic approach to danger assessment and safety-oriented control of articulated robots that are based on a quantity called danger field. This quantity captures the state of the robot as a whole and indicates how dangerous the current posture and velocity of the robot are to the objects in the environment. The field itself is invariant with respect to objects around the robot...
This paper presents a new control law for robotic manipulators in unstructured environments which guarantees the achievement of the goal position without incurring in local minima. The passivity of the closed-loop system renders this control scheme well-suited for human-robot coexistence, especially when the robot is supposed to share its workspace with humans. The given control law has been implemented...
Magnetic torquers are frequently adopted as actuators for attitude control of small satellites in low Earth orbit. Such actuators generate a magnetic dipole which, in turn, lead to control torques thanks to the interaction with the magnetic field of the Earth. The main difficulty in the design of attitude control laws based on magnetic torquers is that the torques they generate are instantaneously...
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