@inproceedings{ReimannIossifidisSchoener2010, author = {Hendrik Reimann and Ioannis Iossifidis and Gregor Sch{\"o}ner}, title = {End-effector obstacle avoidance using multiple dynamic variables}, publisher = {Robotik}, address = {Munich, Germany}, 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} }