Skip to main content

Safe Self-collision Avoidance for Versatile Robots Based on Bounded Potentials

  • Conference paper
  • First Online:
Field and Service Robotics

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 5))

  • 3932 Accesses

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.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

Notes

  1. 1.

    http://www.menzimuck.com.

  2. 2.

    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.

References

  1. De Santis, A., Albu-Schaffer, A., Ott, C., Siciliano, B., Hirzinger, G.: The skeleton algorithm for self-collision avoidance of a humanoid manipulator. In: 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1–6. IEEE (2007)

    Google Scholar 

  2. Dietrich, A., Wimbock, T., Albu-Schaffer, A., Hirzinger, G.: Integration of reactive, torque-based self-collision avoidance into a task hierarchy. IEEE Trans. Robot. 28(6), 1278–1293 (2012)

    Article  Google Scholar 

  3. Goldstein, H., Poole, C., Safko, J.: Classical Mechanics, 3rd edn. Pearson Higher Ed (2002)

    Google Scholar 

  4. Hutter, M., Leemann, P., Stevsic, S., Michel, A., Jud, D., Hoepflinger, M., Siegwart, R., Figi, R., Caduff, C., Loher, M., et al.: Towards optimal force distribution for walking excavators. In: 2015 international conference on advanced robotics (ICAR), pp. 295–301. IEEE (2015)

    Google Scholar 

  5. Kalmari, J., Pihlajamäki, T., Hyyti, H., Luomaranta, M., Visala, A.: Iso 11783 compliant forest crane as a platform for automatic control. IFAC Proc. Vol. 46(18), 164–169 (2013)

    Article  Google Scholar 

  6. Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. In: Autonomous Robot Vehicles, pp. 396–404. Springer (1986)

    Google Scholar 

  7. Koren, Y., Borenstein, J.: Potential field methods and their inherent limitations for mobile robot navigation. In: 1991 IEEE International Conference on Robotics and Automation, 1991. Proceedings, pp. 1398–1404. IEEE (1991)

    Google Scholar 

  8. Mansard, N., Chaumette, F.: Task sequencing for high-level sensor-based control. IEEE Trans. Robot. 23(1), 60–72 (2007)

    Article  Google Scholar 

  9. Rimon, E., Koditschek, D.E.: Exact robot navigation using artificial potential functions. IEEE Trans. Robot. Autom. 8(5), 501–518 (1992)

    Google Scholar 

  10. Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G.: Robotics: Modelling, Planning and Control. Springer Science & Business Media (2010)

    Google Scholar 

  11. Stasse, O., Escande, A., Mansard, N., Miossec, S., Evrard, P., Kheddar, A.: Real-time (self)-collision avoidance task on a hrp-2 humanoid robot. In: IEEE International Conference on Robotics and Automation, 2008. ICRA 2008, pp. 3200–3205. IEEE (2008)

    Google Scholar 

  12. Sugiura, H., Gienger, M., Janssen, H., Goerick, C.: Real-time collision avoidance with whole body motion control for humanoid robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. IROS 2007, pp. 2053–2058. IEEE (2007)

    Google Scholar 

  13. Zolynski, G., Schmidt, D., Berns, K.: Safety for an autonomous bucket excavator during typical landscaping tasks. In: New Trends in Medical and Service Robots, pp. 357–368. Springer (2014)

    Google Scholar 

Download references

Acknowledgements

This work was supported by the National Centre of Competence in Research Digital Fabrication.

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to David Gonon .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2018 Springer International Publishing AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

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

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-67361-5_2

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-67360-8

  • Online ISBN: 978-3-319-67361-5

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics