| Self-Collision Detection/Avoidance for a Rescue Robot by Modified Skeleton Algorithm |
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Wonsuk Lee, Seongil Hong, Gyuhyun Park, Younsik Kang |
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Defense Unmanned Technology Center, The 5th Research and Development Institute, Agency for Defense Development |
| 보완 골격 알고리듬을 이용한 구난로봇의 자체 충돌감지/회피 |
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이원석, 홍성일, 박규현, 강윤식 |
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국방과학연구소 제5기술연구본부 국방무인기술센터 |
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| Abstract |
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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. |
| Key Words:
Rescue Robot, Self-Collision Detection/Avoidance, Modified Skeleton Algorithm |
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