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Real-time (self)-collision avoidance task on a HRP-2 humanoid robot

Olivier Stasse 1 Adrien Escande 1 Nicolas Mansard 1 Sylvain Miossec 1 Paul Evrard 2 Abderrahmane Kheddar 2
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : 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.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00798791
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Submitted on : Sunday, March 10, 2013 - 5:34:53 PM
Last modification on : Tuesday, June 18, 2019 - 12:06:37 PM
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Olivier Stasse, Adrien Escande, Nicolas Mansard, Sylvain Miossec, Paul Evrard, et al.. Real-time (self)-collision avoidance task on a HRP-2 humanoid robot. ICRA'2008: International Conference on Robotics and Automation, May 2008, Pasadena Conference Center, Pasadena, CA, United States. pp.3200-3205, ⟨10.1109/ROBOT.2008.4543698⟩. ⟨lirmm-00798791⟩

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