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It is very important for a robot to obverse its environment in real-time and walk without collision in a crowd. This paper presents a motion planning method, based on visual feedback, for safe Human-Robot Interaction (HRI) in dynamic environments. Firstly, in order to improve accuracy of features marching, Scale Invariant Feature Transform (SIFT) is merged into binocular stereo vision, which is used...
This paper proposes a new scheme for solving real-time motion planning problems between a human arm and a robot manipulator. These problems are very important towards real-time human-robot interaction. For solving the real-time motion planning problems in dynamic interaction environments, a new method of obstacle direct mapping (ODM) is proposed. In preprocessing phase, a mapping from cells in workspace...
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