Passive Obstacle Aware Control to Follow Desired Velocities
<|reference_start|>Passive Obstacle Aware Control to Follow Desired Velocities: 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.<|reference_end|>
@article{huber2024passive,
    title={Passive Obstacle Aware Control to Follow Desired Velocities},
    author={Lukas Huber, Thibaud Trinca, Jean-Jacques Slotine, Aude Billard},
    journal={arXiv preprint arXiv:2405.05669},
    year={2024},
    archivePrefix={arXiv},
    eprint={2405.05669},
    primaryClass={cs.RO cs.SY eess.SY}
}