Abstract
We present a novel and intrinsically safe collision avoidance method for torque- or force-controlled robots. We propose to insert a dedicated module after the nominal controller into the existing feedback loop to blend the nominal control signal with repulsive forces derived from an artificial potential. This blending is regulated by the system’s mechanical energy in a way that guarantees collision avoidance and at the same time allows navigating close to collisions. Although using well-known ingredients from previous reactive methods, our approach overcomes their limitations in respect of achieving reliability without significantly restricting the set of reachable configurations. We demonstrate the fitness of our approach by comparing it to a standard potential-based method in simulated experiments with a walking excavator.
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We argue that they are an accurate approximation of the M545 and similar machines with a heavy and sufficiently stiff base. In the remainder of this article, we therefore make this simplifying assumption. However, in general it is not necessary for our method, which only requires that all degrees of freedom are actuated.
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This work was supported by the National Centre of Competence in Research Digital Fabrication.
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Gonon, D., Jud, D., Fankhauser, P., Hutter, M. (2018). Safe Self-collision Avoidance for Versatile Robots Based on Bounded Potentials. In: Hutter, M., Siegwart, R. (eds) Field and Service Robotics. Springer Proceedings in Advanced Robotics, vol 5. Springer, Cham. https://doi.org/10.1007/978-3-319-67361-5_2
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DOI: https://doi.org/10.1007/978-3-319-67361-5_2
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