Since path planning for multi-arm manipulators is a complicated high-dimensional problem,
effective and fast path generation is not easy for the arbitrarily given start and goal locations …

Gras** and manipulating various kinds of objects cooperatively is the core skill of a dual-
arm robot when deployed as an autonomous agent in a human-centered environment. This …

This paper presents a new framework for constraint-based task specification of robot
controllers. A task specification language (eTaSL) is defined as well as a corresponding …

To enhance flexibility and sustainability, human-robot collaboration is becoming a major
feature of next-generation robots. The safety assessment strategy is the first and crucial …

Humanoid service robots in domestic environments have to interact with humans and their
surroundings in a safe and reliable way. One way to manage that is to equip the robotic …

As a result of intensive research over the last few decades, several robotic systems are
approaching a level of maturity that allows robust task execution and safe interaction with …

Human–robot collaboration (HRC) systems integrate the strengths of humans and robots to
improve joint system performance. In particular, human–robot cooperative manipulation (co …

In this letter, we propose a real-time self-collision avoidance approach for whole-body
humanoid robot control. To achieve this, we learn the feasible regions of control in the …

Reactively dealing with self-collisions is an important requirement on multidegree-of-
freedom robots in unstructured and dynamic environments. Classical methods to integrate …

Safety during interaction with unstructured and dynamic environments is now a well
established requirement for complex robotic systems. A wide variety of approaches focus on …