2024/05/09 by Lukas Huber, Huber, Lukas, Trinca Thibaud +5
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #Teleoperation and Haptic Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2405.05669
openalex publication_date 2024/05/09 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.