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Publication type: Article in Proceedings
Author: Alexander Dietrich; Thomas Wimböck; Holger Täubig; Alin Albu-Schäffer; Gerd Hirzinger
Title: Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids
Book / Collection title: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA-11), May 9-13, Shanghai, China
Year published: 2011
Publisher: IEEE
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 selfcollisions 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 selfcollisions are not avoidable by the controller. Experiments are performed on DLR’s humanoid Justin.
Keywords: collision avoidance humanoid robot
Status: Reviewed
Last updated: 28. 11. 2011

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