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Real-time reactive motion generation based on variable attractor dynamics and shaped velocities
2010
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
This paper describes a novel method for motion generation and reactive collision avoidance. The algorithm performs arbitrary desired velocity profiles in absence of external disturbances and reacts if virtual or physical contact is made in a unified fashion with a clear physically interpretable behavior. The method uses physical analogies for defining attractor dynamics in order to generate smooth paths even in presence of virtual and physical objects. The proposed algorithm can, due to its low
doi:10.1109/iros.2010.5650246
dblp:conf/iros/HaddadinUPBRAH10
fatcat:nja7zxei7nbw7i2juy545gqhji