A Hybrid Collision Model for Safety Collision Control
T. Noël T. Flayols J. Mirabel J. Carpentier N. Mansard T. Noël T. Flayols J. Mirabel J. Carpentier N. Mansard
Self-collision detection and avoidance are essential for reactive control, in particular for dynamics robots equipped with legs or arms. Yet, only few control methods are able to handle such constraints, and it is often necessary to rely on path planning to define a collision-free trajectory that the controller would then track. In this paper, we introduce a combination of two lightweight, conserv...