Collision avoidance for a two-arm robot by reflex actions: Simulations and experimentations

Lise Cellier, Pierre Dauchez, René Zapata, Masaru Uchiyama

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


This paper addresses the problem of collision avoidance between the two arms of a two-arm robot. In our case, the problem is solved through the reflex action theory. In fact, one arm is protected by virtual protection zones. When an unscheduled event occurs, in other words when the second arm is going to collide with the first one, the shape of the protection zones is modified. Then, a motion is computed for the first arm to rebuild the initial shape of the protection zones. The use of different shapes for the protection zones is explained and justified. Several strategies to compute the motion are proposed and discussed. Finally, this method is tested in simulation and on real experiments for different kinds of two-arm robots: planar manipulators, PUMA 560 robots and parallelogram robots.

Original languageEnglish
Pages (from-to)219-238
Number of pages20
JournalJournal of Intelligent & Robotic Systems
Issue number2
Publication statusPublished - 1995 Oct
Externally publishedYes


  • Robot manipulators
  • collision avoidance
  • protection zones
  • reflex actions

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence


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