Reactive Collision Avoidance on Dual-arm robot simulation environment
0.022Optimization Cost Time (s)collision-free dual-arm surgical assistive robot
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| collision-free dual-arm surgical assistive robotObs (Obstacle avoidance)=✔, Self (Self-collision avoidance)=✔2026.03 | 0.022 | 0.054 | 17.77 | |
| DawnIKObs (Obstacle avoidance)=✘, Self (Self-collision avoidance)=✔2026.03 | 0.034 | 0.116 | 31.94 | |
| CBF-QPObs (Obstacle avoidance)=✔, Self (Self-collision avoidance)=✔2026.03 | 0.035 | 0.055 | 39.47 | |
| CollisionIKObs (Obstacle avoidance)=✔, Self (Self-collision avoidance)=✔2026.03 | 0.038 | 0.136 | 32.1 |