Virtual Impedance Model for Obstacle Avoidance in a Limb Mechanism Robot
In obstacle avoidance method using a virtual impedance wall is proposed for a multi-legged robot. The swing legs use compliance control to make soft contact and avoid colliding with objects, so that the robot maintains the moving direction as far as possible while the swing legs maintain a preferred operating region. The preferred operating region is surrounded with a virtual impedance wall. When the leg passes over the threshold of the preferred operating region, the moving direction is modifled by the virtual repulsive force from the virtual impedance wall to avoid the workspace limitation. Moreover, the pattern recognition technique using the support vector machine is implemented for estimating the contact point between the object and the body by using the data set of the error of each leg. The virtual impedance field is set at the estimated contact position to direct the aspect of avoidance. The robot is pushed and rotated by the virtual repulsive force from the impedance field. These passive motions from the virtual impedance model can provide a good solution for object avoidance control. The feasibility of the proposed obstacle avoidance method is shown by simulations and experiments using actual robots.
Kenji Tsukamoto Tomohito Takubo Kenichi Ohara Yasushi Mae Tatsuo Arai
Department of System Innovations,Graduate School of Engineering Science Osaka University 1-3 Machikaneyama,Toyonaka,Osaka,560-8531,Japan
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-6
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）