Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 6, Issue 2, Pages 1043-1050Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3056060
Keywords
Motion control; collision avoidance; and reactive control
Categories
Funding
- Australian Research Council [CE140100016]
- QUT Centre for Robotics
- Australian Research Council [CE140100016] Funding Source: Australian Research Council
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NEO is a fast and purely reactive motion controller for manipulators that can avoid obstacles and maximize manipulability. It is best suited as a reactive local controller in more complex scenes, along with a global motion planner.
We present NEO, a fast and purely reactive motion controller for manipulators which can avoid static and dynamic obstacles while moving to the desired end-effector pose. Additionally, our controller maximises the manipulability of the robot during the trajectory, while avoiding joint position and velocity limits. NEO is wrapped into a strictly convex quadratic programme which, when considering obstacles, joint limits, and manipulability on a 7 degrees-of-freedom robot, is generally solved in a few ms. While NEO is not intended to replace state-of-the-art motion planners, our experiments show that it is a viable alternative for scenes with moderate complexity while also being capable of reactive control. For more complex scenes, NEO is better suited as a reactive local controller, in conjunction with a global motion planner. We compare NEO to motion planners on a standard benchmark in simulation and additionally illustrate and verify its operation on a physical robot in a dynamic environment. We provide an open-source library which implements our controller.
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