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Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids

Dietrich, Alexander and Wimböck, Thomas and Täubig, Holger and Albu-Schäffer, Alin and Hirzinger, Gerd (2011) Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids. In: Proc. of the 2011 IEEE International Conference on Robotics and Automation. International Conference on Robotics and Automation, Shanghai, China.

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Abstract

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 self-collisions 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 self-collisions are not avoidable by the controller. Experiments are performed on DLR's humanoid Justin.

Item URL in elib:https://elib.dlr.de/69984/
Document Type:Conference or Workshop Item (Paper)
Title:Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Dietrich, AlexanderUNSPECIFIEDUNSPECIFIED
Wimböck, ThomasUNSPECIFIEDUNSPECIFIED
Täubig, HolgerUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDUNSPECIFIED
Hirzinger, GerdUNSPECIFIEDUNSPECIFIED
Date:May 2011
Journal or Publication Title:Proc. of the 2011 IEEE International Conference on Robotics and Automation
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:self-collision avoidance, humanoid robots, torque control, reactive control
Event Title:International Conference on Robotics and Automation
Event Location:Shanghai, China
Event Type:international Conference
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 - Leistungszentrum Robotik - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Dietrich, Dr.-Ing. Alexander
Deposited On:14 Jun 2011 09:25
Last Modified:31 Jul 2019 19:32

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