Publication
Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids
Alexander Dietrich; Thomas Wimböck; Holger Täubig; Alin Albu-Schäffer; Gerd Hirzinger
In: Proceedings of the International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation (ICRA-11), May 9-13, Shanghai, China, IEEE, 5/2011.
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.