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Self-Collision Detection and Prevention for Humanoid Robots

Self-Collision Detection and Prevention for Humanoid Robots. James Kuffner et al. presented by Jinsung Kwon. Mobile Robots are free of self-collisions in most cases. Self-Collision. Self-Collision. Ariticulated robots are typically at high risk of self-collision. Objective.

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Self-Collision Detection and Prevention for Humanoid Robots

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  1. Self-Collision Detection and Preventionfor Humanoid Robots James Kuffner et al. presented by Jinsung Kwon

  2. Mobile Robots are free of self-collisions in most cases Self-Collision

  3. Self-Collision Ariticulated robots are typically at high risk of self-collision

  4. Objective Develop efficient geometric method detect and prevent self-collision suitable for complex articulated robots H7 Humanoid (31 Links)

  5. Challenges Large number of distance computations in short time N = 31 P = 435

  6. Challenges Single distance computation itself is also very expensive

  7. Strategies Eliminate unnecessary pairs from distance computation

  8. Strategies Eliminate unnecessary pairs from distance computation

  9. Strategies Protective Hulls approximation to the complicated geometry

  10. Strategies Protective Hulls

  11. Implementation Trajectory Sampling : discretization of the trajectory into a finite set of samples

  12. Implementation No Collision if xmax < dmin during ∆t with dx = J dq |dq/dt| < (dq/dt)max Velocity Bounds and Collision-free Guarantees xmax dmin

  13. Implementation Voronoi-clip for distance computation Running time depends on the geometric complexity and posture changed Running relatively in constant time with high coherency Limited to convex polyhedrons

  14. 0 1 2 3 1 2 3 4 2 3 4 5 3 4 5 6 Implementation Final Posture by Emergency Stop Control Strategy Read joystick command Calculate 3-step trajectory Check new trajectory for self-collision

  15. Results

  16. Results

  17. Results Comparison

  18. Future Work Automatic selection of active pairs for given joint angle ranges Alternative minimum distance determination method allowing non-convex protective hulls

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