Extensions to reactive self-collision avoidance for torque and position controlled humanoids

Alexander Dietrich, Thomas Wimböck, Holger Täubig, Alin Albu-Schaffer, Gerd Hirzinger

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

46 Scopus citations

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.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages3455-3462
Number of pages8
DOIs
StatePublished - 2011
Externally publishedYes
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: 9 May 201113 May 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/TerritoryChina
CityShanghai
Period9/05/1113/05/11

Fingerprint

Dive into the research topics of 'Extensions to reactive self-collision avoidance for torque and position controlled humanoids'. Together they form a unique fingerprint.

Cite this