A reachability-based safety shield classifies possible human-robot contacts as constrained or unconstrained and limits robot kinetic energy to injury thresholds per contact type, enabling faster collaborative manipulation.
An approach for implementing power and force limiting in sensorless industrial robots,
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A General Safety Framework for Autonomous Manipulation in Human Environments
A reachability-based safety shield classifies possible human-robot contacts as constrained or unconstrained and limits robot kinetic energy to injury thresholds per contact type, enabling faster collaborative manipulation.