보완 골격 알고리듬을 이용한 구난로봇의 자체 충돌감지/회피 = Self-Collision Detection/Avoidance for a Rescue Robot by Modified Skeleton Algorithm

다국어 초록 (Multilingual Abstract)

This paper handles self-collision avoidance for a rescue robot with redundant manipulators. In order to detect all available self-collisions in advance, minimum distances between arbitrary robot parts should be monitored in real-time. For the minimum distance estimation, we suggest a modified method from a previous skeleton algorithm which has less computation burden and realize collision avoidance based on a potential function using the proposed algorithm. The resultant command by collision avoidance should not disturb a given primary task, so null-space of joint solution from a CLIK is utilized for collision avoidance by a gradient projection method.

참고문헌 (Reference)

1 A. Dietrich., "Torque-Based Self-Collision Avoidance into a Task Hierarchy" 28 (28): 2012

2 A. D. Santis., "The Skeleton Algorithm for Self-Collision Avoidance of a Humanoid Manipulator" 2007

3 B. Sciliano., "Robotics : Modeling, Planning and Control" Springer 2009

4 W. Lee., "Motion Control for Resuce Robot by Whole-Body Control based on Task-Priority" 2014

5 S. Hong., "Kinematic Control of Rescue Robot for Managing Multiple Tasks" 2013

6 B. Sciliano, "Kinematic Control of Redundant Robot Manipulators : A Tutorial" 3 : 201-212, 1990

7 B. Sciliano., "A General Framework for Managing Multiple Tasks in highly Reduandant Robotic Systems" 1211-1216, 1991

8 E. G. Gilbert., "A Fast Procedure for Computing the Distance between Complex Objects in Three-Dimensional Space" 4 (4): 193-203, 1998

9 B. Sciliano, "A Closed-Loop Inverse Kinematic Scheme for On-Line Joint-Based Robot Control" 8 : 231-243, 1990