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 Pl\"ucker 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.
@article{arxiv.1906.07322,
title = {Whole-Body Control with (Self) Collision Avoidance using Vector Field Inequalities},
author = {Juan José Quiroz-Omaña and Bruno Vilhena Adorno},
journal= {arXiv preprint arXiv:1906.07322},
year = {2019}
}
Comments
Accepted on IEEE Robotics and Automation Letters, 6 pages