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

Content Provider	IEEE Xplore Digital Library
Author	Haddadin, S. Urbanek, H. Parusel, S. Burschka, D. Rossmann, J. Albu-Schaffer, A. Hirzinger, G.
Copyright Year	2010
Description	Author affiliation: Lab for Robotics and Embedded Systems at Technische Universität München, Garching, Germany (Burschka, D.) \|\| Institute of Man-Machine Interaction at Rheinisch-Westfälische Technische Hochschule Aachen, Germany (Rossmann, J.) \|\| Institute of Robotics and Mechatronics, DLR - German Aerospace Center, Wessling, Germany (Haddadin, S.; Urbanek, H.; Parusel, S.; Albu-Schaffer, A.; Hirzinger, G.)
Abstract	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 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 real-time motion generator connecting control, collision detection and reaction, and global path planning.
Starting Page	3109
Ending Page	3116
File Size	1119379
Page Count	8
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650246
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Collision avoidance Force Dynamics Real time systems Trajectory Acceleration
Content Type	Text
Resource Type	Article

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