Collision avoidance for safe human-robot-coexistence


Recently, the need for a robot that collaborates with humans has increased not only in the industrial settings but also in home use. It is certain that the opportunities that robots associates with humans increase from now on, and human safty becomes a big problem.
In our research, we propose a collision avoidance system in which high-speed camera heads are placed on a robot manipulator. The manipulator can avoid the fast moving obstacle. The arm link is controlled so that the obstacle describes a spiral on the image plane, and the trajectory of the end effector describes a spiral.

Avoidance trajectory



  1. Sho Morikawa, Akio Namiki, Masatoshi Ishikawa: Realtime collision avoidance with light-weight high-speed vision systems, Proceedings of the 24th Annual Conference of the Robotics Society of Japan, 2B18, 2006.
  2. Sho Morikawa, Akio Namiki, Masatoshi Ishikawa: Realtime collision avoindance using high-speed visual servoing, Proceedings of the 7th SICE System Integration Division Annual Conference(SI2006), 2H1-4 (pp728-729)
  3. Sho Morikawa, Taku Senoo, Akio Namiki, Masatoshi Ishikawa: Realtime collision avoidance using a robot manipulator with light-weight small high-speed vision systems, 2007 IEEE International Conference on Robotics and Automation (ICRA'07) (Roma, 2007.4.11) / Proceedings, pp.794-799

Related work

Ishikawa Komuro Laboratory, Department of Information Physics and Computing,
Graduate School of Information Science and Technology, University of Tokyo
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