Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy

Albu-Schäffer, Alin; Dietrich, Alexander; Wimbock, Thomas; Hirzinger, Gerd

doi:10.1109/TRO.2012.2208667

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Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy

Author(s): Alexander Dietrich , Thomas Wimbock , Alin Albu-Schaffer , Gerd Hirzinger

Publication date (Print): December 2012

Journal: IEEE Transactions on Robotics

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

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Most cited references 38

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Real-Time Obstacle Avoidance for Manipulators and Mobile Robots

Bakari O Khatib (1986)

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A unified approach for motion and force control of robot manipulators: The operational space formulation

O. Khatib (1987)

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Task-Priority Based Redundancy Control of Robot Manipulators

Tsuneo Yoshikawa, Yoshihiko Nakamura, Hideo Hanafusa (2016)

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Author and article information

Journal

Title: IEEE Transactions on Robotics

Abbreviated Title: IEEE Trans. Robot.

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

ISSN (Print): 1552-3098

ISSN (Electronic): 1941-0468

Publication date Created: December 2012

Publication date (Print): December 2012

Volume: 28

Issue: 6

Pages: 1278-1293

Article

DOI: 10.1109/TRO.2012.2208667

SO-VID: c9a9300b-94da-48e6-a39e-c9fc65813713

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Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy

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BIO Integration

Most cited references 38

Real-Time Obstacle Avoidance for Manipulators and Mobile Robots

A unified approach for motion and force control of robot manipulators: The operational space formulation

Task-Priority Based Redundancy Control of Robot Manipulators

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