Real-time (self)-collision avoidance task on a hrp-2 humanoid robot

— This paper proposes a real-time implementation of collision and self-collision avoidance for robots. On the basis of a new proximity distance computation method which ensures having continuous gradient, a new controller in the velocity domain is proposed. The gradient continuity encompasses no jump in the generated command. Included in a stack of tasks architecture, this controller has been implemented on the humanoid platform HRP-2 and experienced in a grasping task while walking and avoiding collisions with the environment and auto-collisions.

• Type: Conference
• Year: 2008
• Where: ICRA
• Authors: Olivier Stasse, Adrien Escande, Nicolas Mansard, Sylvain Miossec, Paul Evrard, Abderrahmane Kheddar
• Keywords: Continuous Gradient, Humanoid Platform Hrp-2, ICRA 2008, Proximity Distance Computation, Robotics