TY - CHAP U1 - Konferenzveröffentlichung A1 - Reimann, Hendrik A1 - Iossifidis, Ioannis A1 - Schöner, Gregor T1 - Generating collision free reaching movements for redundant manipulators using dynamical systems N2 - For autonomous robots to manipulate objects in unknown environments, they must be able to move their arms without colliding with nearby objects, other agents or humans. The simultaneous avoidance of multiple obstacles in real time by all link segments of a manipulator is still a hard task both in practice and in theory. We present a systematic scheme for the generation of collision free movements for redundant manipulators in scenes with arbitrarily many obstacles. Based on the dynamical systems approach to robotics, constraints are formulated as contributions to a dynamical system that erect attractors for targets and repellors for obstacles. These contributions are formulated in terms of variables relevant to each constraint and then transformed into vector fields over the manipulator joint velocity vector as an embedding space in which all constraints are simultaneously observed. We demonstrate the feasibility of the approach by implementing it on a real anthropomorphic 8-degrees-of-freedom redundant manipulator. In addition, performance is characterized by detecting failures in a systematic simulation experiment in randomized scenes with varying numbers of obstacles. Y1 - 2010 UR - https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5650603 / SN - 2153-0866 SS - 2153-0866 SN - 978-1-4244-6676-4 SB - 978-1-4244-6676-4 U6 - https://doi.org/https://doi.org/10.1109/IROS.2010.5650603 DO - https://doi.org/https://doi.org/10.1109/IROS.2010.5650603 SP - 5372 EP - 5379 S1 - 8 PB - IEEE CY - Taipei, Taiwan ER -