Real-time (self)-collision avoidance task on a HRP-2 humanoid robot - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2008

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


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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lirmm-00798791 , version 1 (10-03-2013)



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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