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

Dawid Seredyński , Konrad Banachowicz , Tomasz Winiarski


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 (FEIT / AK)
Dawid Seredyński,,
- The Institute of Control and Computation Engineering
, Konrad Banachowicz (FEIT / AK)
Konrad Banachowicz,,
- The Institute of Control and Computation Engineering
, Tomasz Winiarski (FEIT / AK)
Tomasz Winiarski,,
- The Institute of Control and Computation Engineering
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
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
Seredynski i i in Graph mmar16.pdf 1.86 MB
Score (nominal)15
Score sourceconferenceIndex
ScoreMinisterial score = 15.0, 08-07-2020, BookChapterMatConfByConferenceseries
Ministerial score (2013-2016) = 15.0, 08-07-2020, BookChapterMatConfByConferenceseries
Publication indicators Scopus Citations = 2; WoS Citations = 0; GS Citations = 6.0
Citation count*6 (2020-09-24)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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