摘要
Dear editor,Human-robot collaboration is a research topic that has numerous potential applications, such as in smart cities. An important safety consideration in human-robot collaboration is collision avoidance[1]. Many studies have prioritized collision avoidance of the robot end-effector. However, multi-joint(whole-body) collision avoidance is also very important in complex working scenarios. Several studies have achieved multi-joint collision avoidance by estimating the distance between obstacles and control points placed on the robot body.
基金
supported in part by the National Key Research and Development Program of China(2018YFB1305300)
the China Postdoctoral Science Foundation(2020TQ0039,2021M700425)
the National Natural Science Foundation of China(61733001,62103054,U2013602,61873039,U1913211,U1713215)。
