Whole-Body Control with (Self) Collision Avoidance using Vector Field Inequalities (second version)
This work uses vector field inequalities (VFI) to prevent robot self-collisions and collisions with the workspace. Differently from previous approaches, the method is suitable for both velocity and torque-actuated robots. We propose a new distance function and its corresponding Jacobian in order to generate a VFI to limit the angle between two Plücker lines. This new VFI is used to prevent both undesired end-effector orientations and violation of joints limits. The proposed method is evaluated in a realistic simulation and on a real humanoid robot, showing that all constraints are respected while the robot performs a manipulation task.
Смотрите видео Whole-Body Control with (Self) Collision Avoidance using Vector Field Inequalities (second version) онлайн без регистрации, длительностью часов минут секунд в хорошем качестве. Это видео добавил пользователь macro@ufmg 19 Июнь 2019, не забудьте поделиться им ссылкой с друзьями и знакомыми, на нашем сайте его посмотрели 131 раз и оно понравилось 3 людям.