Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids
One of the fundamental demands on robotic systems is a safe interaction with their environment. For fulfilling that condition, both collisions with obstacles and the own structure have to be avoided. We address the problem of selfcollisions and propose an algorithm for its avoidance which is based on artificial repulsion potential fields and applicable to both torque and position controlled manipulators. To this end, we design a damping that incorporates the configuration dependance of the robot. For a maximum level of safety, an additional emergency brake strategy based on kinetic energy considerations is introduced for situations in which selfcollisions are not avoidable by the controller. Experiments are performed on DLR’s humanoid Justin.
Alexander Dietrich Thomas Wimb(o)ck Holger T(a)ubigy Alin Albu-Sch(a)ffer Gerd Hirzinger
Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Oberpfaffenhofen German Research Center for Artificial Intelligence,Bremen
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3455-3462
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）