Abstract
This letter 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.
Original language | English |
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Pages (from-to) | 4048-4053 |
Number of pages | 6 |
Journal | IEEE Robotics and Automation Letters |
Volume | 4 |
Issue number | 4 |
DOIs | |
Publication status | Published - 15 Jul 2019 |