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Reactive Motion Generation for Robots in Dynamic Environments

Haddadin, Sami and Belder, Rico and Albu-Schaeffer, Alin (2011) Reactive Motion Generation for Robots in Dynamic Environments. In: Proceedings. IFAC 2011, World Congress, 28. Aug. - 02. Sep. 2011, Milano, Italy.

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Abstract

In the near future robots are sought to become an integral part of human everyday life. Also in industrial settings robotic Co-Workers are expected to become a commodity. Even though the particular application areas may vastly change, a robot always needs to act in a dynamic and partially unknown environment. It shall reactively generate motions and prevent upcoming collisions. If contact is desired or inevitable, it has to handle it robustly and safely. For preventing collisions in a real-time fashion the Circular Fields method is a powerful scheme, which we developed further and evaluated it extensively. After an initial analysis in rather complex 2D simulations, we extend the evaluation to 3D as well as 6D, where we introduce a hybrid strategy based on Circular and Potential Fields. Finally, the 6D implementation of a hybrid Circular & Potential Fields approach is used to perform the experimental analysis for static multi-object parcours and to avoid a dynamically moving human in a 6D task motion. Based on the algorithms for collision avoidance we also develop and experimentally verify an algorithm for tactile exploration of complex planar 3D wire elements, whose structure is a-priori unknown.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Reactive Motion Generation for Robots in Dynamic Environments
Authors:
AuthorsInstitution or Email of Authors
Haddadin, SamiSami.Haddadin@dlr.de
Belder, RicoRico.Belder@dlr.de
Albu-Schaeffer, AlinAlin.Albu-Schaeffer@dlr.de
Date:August 2011
Journal or Publication Title:Proceedings
Status:Published
Keywords:Realzeitbewegungsplanung, taktile Exploration, Kollisionsvermeidung
Event Title:IFAC 2011, World Congress
Event Location:Milano, Italy
Event Type:international Conference
Event Dates:28. Aug. - 02. Sep. 2011
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Mechatronik und Telerobotik (old), W - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:20 Jan 2012 12:50
Last Modified:12 Dec 2013 21:34

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