TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Reimann, Hendrik
A1  - Iossifidis, Ioannis
A1  - Schöner, Gregor
T1  - End-effector obstacle avoidance using multiple dynamic variables
N2  - 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
Y1  - 2010
UR  - https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5756798 /
SP  - 206
EP  - 211
S1  - 6
PB  - Robotik
CY  - Munich, Germany
ER  -