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Reactive Motion Generation for Robots in Dynamic Environments

Haddadin, Sami und Belder, Rico und 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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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.

Dokumentart:Konferenzbeitrag (Vortrag, Paper)
Titel:Reactive Motion Generation for Robots in Dynamic Environments
AutorenInstitution oder E-Mail-Adresse der Autoren
Haddadin, SamiSami.Haddadin@dlr.de
Belder, RicoRico.Belder@dlr.de
Albu-Schaeffer, AlinAlin.Albu-Schaeffer@dlr.de
Datum:August 2011
Erschienen in:Proceedings
Stichwörter:Realzeitbewegungsplanung, taktile Exploration, Kollisionsvermeidung
Veranstaltungstitel:IFAC 2011, World Congress
Veranstaltungsort:Milano, Italy
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:28. Aug. - 02. Sep. 2011
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - RMC - Mechatronik und Telerobotik (alt), W - RMC - Kognitive Intelligenz und Autonomie (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Robotersysteme
Hinterlegt von: Gabriele Beinhofer
Hinterlegt am:20 Jan 2012 12:50
Letzte Änderung:12 Dez 2013 21:34

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