Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy. Dietrich, A., Wimbock, T., Albu-Schaffer, A., & Hirzinger, G. IEEE Transactions on Robotics, 28(6):1278–1293, December, 2012. doi abstract bibtex Reactively dealing with self-collisions is an important requirement on multidegree-of-freedom robots in unstructured and dynamic environments. Classical methods to integrate respective algorithms into task hierarchies cause substantial problems: Either these unilateral safety constraints are permanently active, unnecessarily locking DOF for other tasks, or they get activated online and result in a discontinuous control law. We propose a new, reactive self-collision avoidance algorithm for highly complex robotic systems with a large number of DOF. In particular, configuration-dependent damping is imposed to dissipate undesired kinetic energy in a well-directed manner. Moreover, we merge the algorithm with a novel method to incorporate these unilateral constraints into a dynamic task hierarchy. Our approach both allows us to specifically limit the force/torque derivative to comply with physical constraints of the real robot and to prevent discontinuities in the control law while activating/deactivating the constraints. No redundancy is wasted. No comparable algorithms have been developed and implemented on a torque-controlled robot with such a level of complexity so far. The implementation of our generic solution on the multi-DOF humanoid Justin clearly validates the performance and demonstrates the real-time applicability of our synthetic approach. The proposed method can be used to contribute to whole-body controllers.
@article{dietrich_integration_2012,
title = {Integration of {Reactive}, {Torque}-{Based} {Self}-{Collision} {Avoidance} {Into} a {Task} {Hierarchy}},
volume = {28},
issn = {1552-3098},
doi = {10.1109/TRO.2012.2208667},
abstract = {Reactively dealing with self-collisions is an important requirement on multidegree-of-freedom robots in unstructured and dynamic environments. Classical methods to integrate respective algorithms into task hierarchies cause substantial problems: Either these unilateral safety constraints are permanently active, unnecessarily locking DOF for other tasks, or they get activated online and result in a discontinuous control law. We propose a new, reactive self-collision avoidance algorithm for highly complex robotic systems with a large number of DOF. In particular, configuration-dependent damping is imposed to dissipate undesired kinetic energy in a well-directed manner. Moreover, we merge the algorithm with a novel method to incorporate these unilateral constraints into a dynamic task hierarchy. Our approach both allows us to specifically limit the force/torque derivative to comply with physical constraints of the real robot and to prevent discontinuities in the control law while activating/deactivating the constraints. No redundancy is wasted. No comparable algorithms have been developed and implemented on a torque-controlled robot with such a level of complexity so far. The implementation of our generic solution on the multi-DOF humanoid Justin clearly validates the performance and demonstrates the real-time applicability of our synthetic approach. The proposed method can be used to contribute to whole-body controllers.},
number = {6},
journal = {IEEE Transactions on Robotics},
author = {Dietrich, A. and Wimbock, T. and Albu-Schaffer, A. and Hirzinger, G.},
month = dec,
year = {2012},
keywords = {Algorithm design and analysis, Humanoid robots, Kinetic energy, Torque control, collision avoidance, configuration-dependent damping, damping, discontinuous control law, dof, dynamic environments, dynamic task hierarchy, force control, force-torque derivative, multiDOF humanoid Justin, multidegree-of-freedom robots, reactive torque-based self-collision avoidance, redundancy, redundant robots, robot dynamics, self-collision avoidance, task hierarchy, torque-controlled robot, unilateral constraints, unilateral safety constraints, unstructured environments, whole-body controllers},
pages = {1278--1293}
}
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