CAHRA: Collision avoidance system for humanoid robot arms with potential field

Akiyoshi Sahara, Michita Imai, Yuichiro Anzai

Research output: Contribution to journalConference article

3 Citations (Scopus)

Abstract

This paper proposes an autonomous collision avoidance system for humanoid robot arms named "CAHRA". There is a difficulty when robot developers make motions of humanoid robot arms, because the right arm and the left arm may collide each other. CAHRA can execute the online collision avoidance, since the computational cost in CAHRA that uses the potential method is very small. An experiment was conducted to confirm the ability of CAHRA which was developed on a humanoid robot "Robovie". The result indicated that CAHRA avoided collision of arms in 97%. Without being nervous about collision avoidance, developers can make robot motions by using CAHRA.

Original languageEnglish
Pages (from-to)2889-2895
Number of pages7
JournalConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume3
Publication statusPublished - 2004 Dec 1
Event2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 - The Hague, Netherlands
Duration: 2004 Oct 102004 Oct 13

Keywords

  • Collision avoidance
  • Humanoid robot arms
  • Motion making
  • Potential method

ASJC Scopus subject areas

  • Engineering(all)

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