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ICRA
2008
IEEE

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

8 years 8 months ago
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.
Olivier Stasse, Adrien Escande, Nicolas Mansard, S
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Olivier Stasse, Adrien Escande, Nicolas Mansard, Sylvain Miossec, Paul Evrard, Abderrahmane Kheddar
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