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

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6 Author(s)
Olivier Stasse ; AIST/CNRS Joint Japanese-French Robotics Laboratory, JRL, Tsukuba, Japan ; Adrien Escande ; Nicolas Mansard ; Sylvain Miossec
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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.

Published in:

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Date of Conference:

19-23 May 2008