The skeleton algorithm for self-collision avoidance of a humanoid manipulator

For use in unstructured domains, highly redundant multi-arm robotic systems need both deliberative and reactive control schemes, in order to safely interact with the environment. The problem of collisions is crucial. A robust reactive algorithm, named the "skeleton algorithm", is proposed...

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Bibliographic Details
Published in2007 IEEE/ASME international conference on advanced intelligent mechatronics pp. 1 - 6
Main Authors De Santis, A., Albu-Schaffer, A., Ott, C., Siciliano, B., Hirzinger, G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2007
Subjects
Arm
Collision avoidance
Control systems
Humanoid robots
Index Terms
Kinematics
Manipulators
Motion control
Reactive control
Robot sensing systems
Robotics and automation
Self-collision avoidance
Skeleton
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ISBN1424412633
9781424412631
ISSN2159-6247
DOI10.1109/AIM.2007.4412606

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Summary:For use in unstructured domains, highly redundant multi-arm robotic systems need both deliberative and reactive control schemes, in order to safely interact with the environment. The problem of collisions is crucial. A robust reactive algorithm, named the "skeleton algorithm", is proposed for the real-time generation of self-collision avoidance motions, where only proprioceptive sensory data are needed. The algorithm is applied to the DLR humanoid manipulator Justin, and a joint-torque control is used, where the collision avoidance torques are summed to the desired torques corresponding to other tasks; experimental results are reported.
ISBN:1424412633
9781424412631
ISSN:2159-6247
DOI:10.1109/AIM.2007.4412606