Self-Collision Detection and Prevention for Humanoid Robots James Kuffner et al. presented by Jinsung Kwon
Self-Collision Mobile Robots are free of self-collisions in most cases
Self-Collision Ariticulated robots are typically at high risk of self-collision
Objective Develop efficient geometric method detect and prevent self-collision detect and prevent self-collision suitable for complex articulated robots suitable for complex articulated robots H7 Humanoid (31 Links)
Challenges Large number of distance computations in short time N = 31 P = 435
Challenges Single distance computation itself is also very expensive
Strategies Eliminate unnecessary pairs from distance computation
Strategies
Strategies Protective Hulls approximation to the complicated geometry
Strategies Protective Hulls
Implementation Trajectory Sampling : discretization of the trajectory into a finite set of samples : discretization of the trajectory into a finite set of samples
Implementation Velocity Bounds and Collision-free Guarantees d min x max No Collision if x max < d min during ∆t with dx = J dq |dq/dt| < (dq/dt) max
Implementation Voronoi-clip for distance computation Running time depends on the geometric complexity and posture changed Running time depends on the geometric complexity and posture changed Running relatively in constant time with high coherency Running relatively in constant time with high coherency Limited to convex polyhedrons Limited to convex polyhedrons
Implementation Control Strategy Read joystick command Calculate 3-step trajectory Check new trajectory for self-collision Final Posture by Emergency Stop
Results
Results
Results Comparison
Future Work Automatic selection of active pairs for given joint angle ranges Automatic selection of active pairs for given joint angle ranges Alternative minimum distance determination method allowing non-convex protective hulls Alternative minimum distance determination method allowing non-convex protective hulls