Real-time collision avoidance with whole body motion control for humanoid robots

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2007, Pages 2053-2058

  Sugiura, Hisashi ^a   Gienger, Michael ^a   Janssen, Herbert ^a   Goerick, Christian ^a  

^a HONDA RESEARCH INSTITUTE EUROPE GMBH   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

BLENDING; COLLISION AVOIDANCE; COMPUTER NETWORKS; INTELLIGENT ROBOTS; INTELLIGENT SYSTEMS; MOTION CONTROL; MOTION PLANNING; TARGETS;

INTERNATIONAL CONFERENCES; SELF-COLLISION AVOIDANCE; WHOLE-BODY MOTION;

ROBOTS;

EID: 51349133711     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2007.4399062     Document Type: Conference Paper

References (18)

1. T. Lozano-Pérez and M. A. Wesly, "An algorithm for planning collision-free paths among polyhedral obstacles," in Communications of the ACM, vol. 22, no. 10, 1979, pp. 560-570.
2. O. Khatib, "Real-time obstacle avoidance for manipulations and mobile robots," in The international Journal of Robotics Research, 1986.
3. J. Kuffner, K. Nishiwaki, S. Kagami, Y. Kuniyoshi, Masayuki, Inaba, and H. Inoue, "Self-collision detection and prevention for humanoid robots," in Proceedings of the IEEE International Conference on Robotics and Automation, 2002.
4. J. Kuffner, S. Kagami, K. Nishiwaki, M. Inaba, and H. Inoue, "Dynamically-stable motion planning for humanoid robots," in Autonomous Robots, vol. 12, no. 12, 2002, pp. 105-118.
5. Y. Nakamura, Advanced Robotics: Redundancy and Optimization. Addison Wesley Publishing Company, 1991.
6. H. Hanafusa, T. Yoshikawa, and Y. Nakamura, "Redundancy analysis of articulated robot arms and its utilization for task with priority," in SICE, vol. 19, no. 5, 1983, pp. 421-426.
7. A. A. Maciejewski and C. A. Klein, "Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments," in The international Journal of Robotics Research, vol. 4, no. 3, 1985, pp. 109-117.
8. O. Brock, O. Khatib, and S. Viji, "Task consistent obstacle avoidance and motion behavior for mobile manipulation," in Proceedings of the IEEE International Conference of Robotics and Automation, 2002.
9. F. Seto, K. Kosuge, and Y. Hirata, "Self-collision avoidance motion control for human robot cooperation system using robe," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005.
10. F. Seto, Y. Hirata, and K. Kosuge, "Motion generation for human-robot cooperation considering range of joint movement," in Proceedings of the IEEE-RAS International Conference on Intelligent Robots and Systems, 2006.
11. H. Sugiura, M. Gienger, H. Janssen, and C. Goerick, "Real-time self collision avoidance for humanoids by means of nullspace criteria and task intervals," in Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2006.
12. C. Ericson, Real-time collision detection. The Morgan Kaufman Publishers, 2005.
13. G. van den Bergen, Collision Detection in Interactive 3D Environments. The Morgan Kaufman Publishers, 2004.
14. M. Deloura, Game programming Gems2. Charles River Media, Inc., 2001.
15. E. Lengyel, Mathematics for 3D Game programming & Computer graphics second edition. Charles River Media, Inc., 2004.
16. E. Larsen, S. Gottschalk, M. C. Lin, and D. Manocha, "Fast proximity queries with swept sphere volumes," in Technical report TR99-018, Department of Computer Science, University of N. Carolina, Chapel Hill., 1999.
17. M. Gienger, H. Janssen, and C. Goerick, "Task-oriented whole body motion for humanoid robots," in Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2005.
18. J. Paillard, "Body schema and body image - a double dissociation in deafferented patients," in In Motor Control, Today and Tomorrow, eds. G. N. Gantchev, S. Mori and J.Massion. Bulgarian Academy of Science Sofia: Academic Publishing House., 1999.