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/ | ||||||||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||||||||||||||
Title: | Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids | ||||||||||||||||||
Authors: |
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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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