This paper proposes a real-time implementation of collision and self-collision avoidance for robots. On the basis of a new proximity distance computation method which ensures having continuous gradient, a new controller in the velocity domain is proposed. The gradient continuity encompasses no jump in the generated command. Included in a stack of tasks architecture, this controller has been implemented on the humanoid platform HRP-2 and experienced in a grasping task while walking and avoiding collisions with the environment and auto-collisions.
['Olivier Stasse', 'Adrien Escande', 'Nicolas Mansard', 'Sylvain Miossec', 'Paul Evrard', 'Abderrahmane Kheddar']
Real-time (self)-collision avoidance task on a hrp-2 humanoid robot