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Human–robot collaboration in industrial applications is a challenging robotic task. Human working together with the robot at a workplace to complete a task may create unpredicted events for the robot, as humans can act unpredictably. Humans tend to perform a task in a not fully repetitive manner using their expertise and cognitive capabilities. The traditional robot programming cannot cope with these...
This work addresses the problem of object delivery with a mobile robot in real-world environments. We introduce a multilayer, modular pushing skill that enables a robot to push unknown objects in such environments. We present a strategy that guarantees obstacle avoidance for object delivery by introducing the concept of a pushing corridor. This allows pushing objects in scattered and dynamic environments...
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