platform SARA (Safe Adaptable Robotic Arm)

Last update: january 30th 2023

This work has been done in the frame of the PhD Thesis of Pu Zheng in the context of the CDP circular (04/2018-01/2022) .
The goal of this project is to ensure the safety of an operator sharing his workspace with a robotic arm in industrial environment. Related publications: [Zheng22] + [Zheng20];

This work has been funded by the "Banque Publique d'Investissement" I-Lab (page 75) (SARA project, page 101 budget 1M euros) in cooperation with enchanted tools. This project is supported by LSI CARNOT to ensure its industrial transfer.

Some demos:

Complete video + interests of approach
Final results: perception + control + obstacle avoidance;
Hand detection + avoidance: 1 + 2;
Avoidance of a virtual obstacle;
Circular trajectory;
Back and forth trajectory.