Real-time (self)-collision avoidance task on a hrp-2 humanoid robot
Real-time (self)-collision avoidance task on a hrp-2 humanoid robot
复制标题
hrp-2 人形机器人上的实时（自）碰撞避免任务
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
A. Kheddar
中科院分区：
文献类型：
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作者：
O. Stasse;Adrien Escande;N. Mansard;S. Miossec;Paul Evrard;A. Kheddar
本文提出了一种机器人碰撞和自避碰的实时实现方法。在保证梯度连续的邻近距离计算方法的基础上，提出了一种新的速度域控制器。渐变连续性在生成的命令中不包含跳跃。包括在一个堆栈的任务架构中，该控制器已在类人平台HRP-2上实现，并在行走和避免与环境碰撞和自动碰撞时执行抓取任务。
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.