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.

翻译：实时评估和更新自主机器人的避障速度可确保对噪声和扰动的鲁棒性。被动阻尼控制器可通过力矩控制机器人获得期望运动，同时保持柔顺性并确保对外部扰动的安全响应。本文提出一种设计被动控制策略的新方法。该算法在无障碍区域保持顺应性，同时在障碍物附近过渡到增强阻尼以确保避撞。此方法保证了多种场景下的稳定性，有效抑制扰动。在七自由度机械臂上的验证表明，相较于基线方法，本方法具有更优的碰撞抑制能力，凸显了其在实际应用中的实用性。我们提出的障碍物感知阻尼控制器代表了复杂不确定环境下安全机器人控制领域的重大进展。