Real-time (self)-collision avoidance task on a HRP-2 humanoid robot
Résumé
This paper proposes a real-time implementation of collision and self-collision avoidance for robots. On the basis of a new proximity distance computation method which ensures having continuous gradient, a new controller in the velocity domain is proposed. The gradient continuity encompasses no jump in the generated command. Included in a stack of tasks architecture, this controller has been implemented on the humanoid platform HRP-2 and experienced in a grasping task while walking and avoiding collisions with the environment and auto-collisions.
Domaines
Robotique [cs.RO]
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2008_icra_stasse-real_time_self_collision_avoidance.pdf (357.51 Ko)
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2008_icra_stasse-real_time_self_collision_avoidance.wmv (15.01 Mo)
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