Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids

Alexander Dietrich; Thomas Wimböck; Holger Täubig; Alin Albu-Schäffer; Gerd Hirzinger

In: Proceedings of the International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation (ICRA-11), May 9-13, Shanghai, China, IEEE, 5/2011.


One of the fundamental demands on robotic systems is a safe interaction with their environment. For fulfilling that condition, both collisions with obstacles and the own structure have to be avoided. We address the problem of selfcollisions and propose an algorithm for its avoidance which is based on artificial repulsion potential fields and applicable to both torque and position controlled manipulators. To this end, we design a damping that incorporates the configuration dependance of the robot. For a maximum level of safety, an additional emergency brake strategy based on kinetic energy considerations is introduced for situations in which selfcollisions are not avoidable by the controller. Experiments are performed on DLR’s humanoid Justin.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence