Real-Time Self Collision Avoidance for Humanoids by means of Nullspace Criteria and Task Intervals

@article{Sugiura2006RealTimeSC,
  title={Real-Time Self Collision Avoidance for Humanoids by means of Nullspace Criteria and Task Intervals},
  author={Hisashi Sugiura and Michael Gienger and Herbert Janssen and Christian Goerick},
  journal={2006 6th IEEE-RAS International Conference on Humanoid Robots},
  year={2006},
  pages={575-580}
}
We describe a new method for real-time collision avoidance for humanoid robots. Instead of explicitly modifying the commands, our method influences the control system by means of a nullspace criteria and a task interval. The nullspace criteria is driven by a virtual force acting on a joint center vector that defines the minimum of a potential function in joint space. The task interval defines the target constraints in task coordinates and allows the avoidance system to specify deviations from… CONTINUE READING
Highly Cited
This paper has 44 citations. REVIEW CITATIONS
26 Citations
14 References
Similar Papers

Citations

Publications citing this paper.
Showing 1-10 of 26 extracted citations

References

Publications referenced by this paper.
Showing 1-10 of 14 references

Collision Detection in Interactive 3D Environments

  • Gino van den Bergen
  • The Morgan Kaufman Publishers,
  • 2004
1 Excerpt

Wesly . An algorithm for planning collisionfree paths among polyhedral obstacles

  • Tomás Lozano-Pérez, A. Michael
  • Communications of the ACM
  • 2002

Similar Papers

Loading similar papers…