Real-time reactive motion generation based on variable attractor dynamics and shaped velocities

S Haddadin, H Urbanek, S Parusel, D Burschka, J Rossmann, A Albu-Schaffer, G Hirzinger
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
more » ... complexity, run in the inner most control loop of the robot, which is absolutely crucial for safe Human Robot Interaction. The method is thought as the locally reactive realtime motion generator connecting control, collision detection and reaction, and global path planning.
doi:10.1109/iros.2010.5650246 dblp:conf/iros/HaddadinUPBRAH10 fatcat:nja7zxei7nbw7i2juy545gqhji