@inproceedings{ReimannIossifidisSch{\"o}ner2010,
  author    = {Reimann, Hendrik and Iossifidis, Ioannis and Sch{\"o}ner, Gregor},
  title     = {End-effector obstacle avoidance using multiple dynamic variables},
  url       = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=5756798 /},
  institution = {Fachbereich 1 - Institut Informatik},
  pages     = {206 -- 211},
  year      = {2010},
  abstract  = {Generating flexible collision-free reaching move- ments is a standard task for autonomous articulated robots that is critical especially when such systems interact with humans in a service robotics setting. Current solutions are still challenging to put into practice. Here we generalize an approach first used to plan end-effector movement that is based on attractor dynamical systems. We show, how different contributions to the motion planning dynamics can be formulated in constraint- specific reference frames and then transformed into the frame of the joint velocity vector. We implement this system on an 8 DoF redundant manipulator and show its feasibility in a simulation. A systematic experiment with randomly generated obstacle scenes characterizes the performance of the system. Especially challenging confi gurations of obstacles are discussed to illustrate how the method solves these cases},
  language  = {en}
}