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Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy

Dietrich, Alexander and Wimböck, Thomas and Albu-Schäffer, Alin and Hirzinger, Gerd (2012) Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy. IEEE Transactions on Robotics, 28 (6), pp. 1278-1293. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/TRO.2012.2208667 ISSN 1552-3098


Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6255795


Reactively dealing with self-collisions is an important requirement on multi-DOF robots in unstructured and dynamic environments. Classical methods to integrate respective algorithms into task hierarchies cause substantial problems: Either these unilateral safety constraints are permanently active, unnecessarily locking DOF for other tasks, or they get activated online and result in a discontinuous control law. We propose a new, reactive self-collision avoidance algorithm for highly complex robotic systems with a large number of DOF. In particular, configuration dependent damping is imposed to dissipate undesired kinetic energy in a well-directed manner. Moreover, we merge the algorithm with a novel method to incorporate these unilateral constraints into a dynamic task hierarchy. Our approach both allows to specifically limit the force/torque derivative to comply with physical constraints of the real robot and to prevent discontinuities in the control law while activating/deactivating the constraints. No redundancy is wasted. No comparable algorithms have been developed and implemented on a torque controlled robot with such a level of complexity so far. The implementation of our generic solution on the multi-DOF humanoid Justin clearly validates the performance and demonstrates the real-time applicability of our synthetic approach. The proposed method can be used to contribute to whole-body controllers.

Item URL in elib:https://elib.dlr.de/79360/
Document Type:Article
Title:Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Dietrich, Alexanderalexander.dietrich (at) dlr.deUNSPECIFIED
Wimböck, Thomasthomas.wimboeck (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.deUNSPECIFIED
Hirzinger, Gerdgerd.hirzinger (at) dlr.deUNSPECIFIED
Date:3 December 2012
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/TRO.2012.2208667
Page Range:pp. 1278-1293
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:force control, redundant robots, self-collision avoidance, task hierarchy
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Dietrich, Dr.-Ing. Alexander
Deposited On:13 Dec 2012 15:41
Last Modified:06 Sep 2019 15:18

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