A two stage planning approach is proposed to address issues of potentially conflicting planning criteria. This paper presents a strategy for improving the safety of human-robot interaction for articulated robots by minimizing a danger criterion during the planning stage. Two formulations of the danger criterion are proposed: a criterion assuming independent factors, and a criterion assuming mutually dependent factors. Simulations of the proposed planning strategy are presented for both 2D and 3D robots.
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Kulić et al. (2004) studied this question.
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