Whole-Body Control With (Self) Collision Avoidance Using Vector Field Inequalities

Juan José Quiroz-Omaña, Bruno Vilhena Adorno

Research output: Contribution to journalArticlepeer-review


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 languageEnglish
Pages (from-to)4048-4053
Number of pages6
JournalIEEE Robotics and Automation Letters
Issue number4
Publication statusPublished - 15 Jul 2019


Dive into the research topics of 'Whole-Body Control With (Self) Collision Avoidance Using Vector Field Inequalities'. Together they form a unique fingerprint.

Cite this