Collision Strategies for Robot Retreat and Resistance
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The best collision strategy for a robot is avoidance. If avoidance is not possible or feasible the next best strategy, under certain circumstances, may be 1) partial judicious retreat in order to ameliorate the consequences of collision, or 2) to resist the collision impact in order to maintain stability. The retreat and resistance strategies share common elements of design: sensory requirements, processing and transformations modules, and control structures. Much of the system design is amenable to microprocessor based implementation. The subject of this chapter is to present the technical implementation of both of these strategies via an example, and to discuss a microprocessor realization of them. The article is divided into six sections. Section 1 introduces the two strategies and the technical issues via an example. Section 2 is concerned with pre-collision sensing and estimation requirements. Section 3 deals with the sensory requirements after collision. Section 4 presents the control requirements. Section 5 offers some illustrative numerical simulations of retreat or resistance. Section 6 summarizes the major attributes of the retreat and resistance strategies.
KeywordsAssociative Memory Reference Pattern Pattern Space Centroid Position Inertial Coordinate System
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