Graph–based potential field for the end–effector control within the torque–based task hierarchy
Dawid Seredyński , Konrad Banachowicz , Tomasz Winiarski
AbstractIn the article, a reactive torque-based hierarchical task-space control for a robot with multiple redundant DOFs is presented that is suitable to plan, validate and execute a humanoid upper-body motion in human oriented environment. The strategy consists of: (i) joint limit avoidance, (ii) self-collision avoidance using repulsive force fields with additional environment collision avoidance, (iii) end-effector task with a specified discrete potential field with tricubic interpolation and (iv) a posture task on the lowest priority. The proposed approach is verified for Velma - a robot with a humanoid upper-body.
|Publication size in sheets||0.5|
|Book||Proceedings of 21st IEEE Conference on Method and Models in Automation and Robotics, 2016, IEEE Institute of electrical and Electronics Engineers, ISBN 978-1-5090-1715-7, 1285 p., DOI:10.1109/MMAR.2016.7575223|
|Keywords in English||Robots, Collision avoidance, Interpolation, Planning, Trajectory, Aerospace electronics, Force|
|project||Methodology of design and implementation of multi-sensory robotic systems for service purposes. Project leader: Winiarski Tomasz,
, Phone: 7649, 7117, start date 01-02-2013, planned end date 31-01-2016, end date 03-10-2016, 505M/1031/0043, Completed
|Score|| = 15.0, 27-03-2017, BookChapterMatConf|
= 15.0, 27-03-2017, BookChapterMatConf
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