Passive Obstacle Aware Control to Follow Desired Velocities
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
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| _version_ | 1866911954616975360 |
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| author | Huber, Lukas Trinca, Thibaud Slotine, Jean-Jacques Billard, Aude |
| author_facet | Huber, Lukas Trinca, Thibaud Slotine, Jean-Jacques Billard, Aude |
| contents | Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which remains compliant and ensures a safe response to external perturbations. Here, we propose a novel approach for designing the passive control policy. Our algorithm complies with obstacle-free zones while transitioning to increased damping near obstacles to ensure collision avoidance. This approach ensures stability across diverse scenarios, effectively mitigating disturbances. Validation on a 7DoF robot arm demonstrates superior collision rejection capabilities compared to the baseline, underlining its practicality for real-world applications. Our obstacle-aware damping controller represents a substantial advancement in secure robot control within complex and uncertain environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_05669 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Passive Obstacle Aware Control to Follow Desired Velocities Huber, Lukas Trinca, Thibaud Slotine, Jean-Jacques Billard, Aude Robotics Systems and Control Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which remains compliant and ensures a safe response to external perturbations. Here, we propose a novel approach for designing the passive control policy. Our algorithm complies with obstacle-free zones while transitioning to increased damping near obstacles to ensure collision avoidance. This approach ensures stability across diverse scenarios, effectively mitigating disturbances. Validation on a 7DoF robot arm demonstrates superior collision rejection capabilities compared to the baseline, underlining its practicality for real-world applications. Our obstacle-aware damping controller represents a substantial advancement in secure robot control within complex and uncertain environments. |
| title | Passive Obstacle Aware Control to Follow Desired Velocities |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2405.05669 |