Self-Collision Detection and Prevention for Humonoid Robots Paper by James Kuffner et al. Jinwhan Kim
Introduction Efficient geometric approach to detecting link interference for articulated robots Fast, feature-based minimum distance determination Full-body trajectories are checked in advance for potentially self-colliding posture prior to being executed
Collision Detection in Robotics Mobile robots Collision with environmental obstacles or other robots Articulated robots Self-collision also needs to be checked e.g.) Serial-chain manipulators, Humanoid robots
Humanoid Robots The robot consists of a tree of connected links A set of five serial chains 2 arms + 2 legs + 1 neck- head chain
# of Pairs to be checked Assume that joints limits prevents collision between a given link and its parent link
H7 Humonoid Robot A total of 31 links : N=31 Eliminate unnecessary pairs which cannot collide each other Full (435 pairs) Pruned (76 pairs)
Interference Detection Trajectory sampling Binary collision results 1) Swept volumes Computations are difficult and expensive 2) Trajectory discretization Preferred due to its simplicity, but collisions may not be detected
Bounds and collision-free guarantees A conservative measure of the minimum distance can guarantee a collision-free motion Maximum joint velocities are bounded
Protective Hulls Convex protective hulls of each link as conservative approximation provide a safety margin
Minimum Distance Determination The convex nature of the protective hulls allows fast minimum distance determination Voronoi-clip(V-clip) Threshold distances considering errors in modeling and control
Self Collision in Walking
Collision-free Trajectory Generation
Control System for Safe Walking
Conclusion Detecting self-collision for humanoid robots for generating collision-free full-body trajectories Efficient minimum distance determination methods using conservative convex protective hull models Implementation of online Joystick control
Future Work Reduce the number of pairs to be checked by calculating active pairs for given joint angle ranges Investigating alternative minimum distance determination method which is applicable to non-convex hulls