Real-time 3D collision avoidance for biped robots
Real-time 3D collision avoidance for biped robots
复制标题
双足机器人的实时 3D 防撞
DOI：
10.1109/iros.2014.6943152
复制
发表时间：
2014
期刊：
影响因子：
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通讯作者：
Thomas Buschmann
中科院分区：
文献类型：
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作者：
Arne;Robert Wittmann;Daniel Wahrmann;Alexander Ewald;Thomas Buschmann
避免碰撞的能力对于杂乱环境中的运动至关重要。当环境是动态的且未知时，提前计划无碰撞运动是不够的。我们开发了一种新方法，可以在反馈控制过程中在线生成局部优化的轨迹，以动态避开障碍物。该方法成功地将局部势场方法与基于障碍物高度和宽度的启发式方法结合起来以避免碰撞。该程序的主要特点是将障碍物集成到为[1]中提出的自碰撞避免和任务空间中的碰撞避免而设计的框架中。我们展示了验证该方法的实验结果。
The ability to avoid collisions is crucial for locomotion in cluttered environments. It is not enough to plan collision-free movements in advance when the environment is dynamic and not precisely known. We developed a new method which generates locally optimized trajectories online during the feedback control in order to dynamically avoid obstacles. This method successfully combines a local potential field method with a heuristic based on height and width of an obstacle to avoid collisions. The program's main feature is the integration of obstacles into the framework designed for self-collision avoidance presented in [1] and the collisions avoidance in task-space. We show experimental results validating the method.
双足快速行走实验
DOI：
10.1109/icmech.2011.5971235
发表时间：
2011
期刊：
2011 IEEE International Conference on Mechatronics
影响因子：
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作者：
T. Buschmann u. a.
通讯作者：
T. Buschmann u. a.