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Self-Collision Detection/Avoidance for a Rescue Robot by Modified Skeleton Algorithm
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 Title & Authors
Self-Collision Detection/Avoidance for a Rescue Robot by Modified Skeleton Algorithm
Lee, Wonsuk; Hong, Seongil; Park, Gyuhyun; Kang, Younsik;
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 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.
 Keywords
Rescue Robot;Self-Collision Detection/Avoidance;Modified Skeleton Algorithm;
 Language
Korean
 Cited by
 References
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