Graph–based potential field for the end–effector control within the torque–based task hierarchy

Dawid Seredyński , Konrad Banachowicz , Tomasz Winiarski

Abstract

In 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.
Author Dawid Seredyński IAiIS
Dawid Seredyński,,
- The Institute of Control and Computation Engineering
, Konrad Banachowicz IAiIS
Konrad Banachowicz,,
- The Institute of Control and Computation Engineering
, Tomasz Winiarski IAiIS
Tomasz Winiarski,,
- The Institute of Control and Computation Engineering
Pages645-650
Publication size in sheets0.5
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
DOIDOI:10.1109/MMAR.2016.7575212
URL http://ieeexplore.ieee.org/document/7575212/
projectMethodology 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
WEiTI Projects financed by NSC [Projekty finansowane przez NCN]
Languageen angielski
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Seredynski i i in Graph mmar16.pdf 1.86 MB
Score (nominal)15
ScoreMinisterial score [Punktacja MNiSW] = 15.0, 27-03-2017, BookChapterMatConf
Ministerial score (2013-2016) [Punktacja MNiSW (2013-2016)] = 15.0, 27-03-2017, BookChapterMatConf
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