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hsp-iit / project-ergocub

A demonstration of human-robot interaction on the ergoCub through vision.
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Self collision when grasping #88

Closed Woolfrey closed 1 year ago

Woolfrey commented 1 year ago

When performing bimanual manipulation, the right arm collided with the torso:

https://github.com/hsp-iit/ergocub-icra2023-demo/assets/62581255/f2ae4ebb-dee2-4697-8eef-438f515e9c87


We need to formulate a redundant task to keep the elbows out and the arms away from the torso when controlling the hands.

Woolfrey commented 1 year ago

Without manipulability optimisation:

https://github.com/hsp-iit/ergocub-icra2023-demo/assets/62581255/81d606bc-ceb2-4a8c-9a9a-04366fb8190d


With manipulability optimisation:

https://github.com/hsp-iit/ergocub-icra2023-demo/assets/62581255/a4f2a330-1f05-4fa3-915e-8b0531fa8cc5