# Whole-Body Control with (Self) Collision Avoidance using Vector Field Inequalities

arXiv: https://arxiv.org/abs/1906.07322 · HTML: https://mlsanity.com/paper/1906.07322/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Jun 2019.

## Built on by (most cited first, 1 of 1)

- [Regularized Deep Signed Distance Fields for Reactive Motion Generation](https://mlsanity.com/paper/2203.04739/) (2022)

## Abstract (arXiv)

This work uses vector field inequalities (VFI) to prevent robot self-collisions and collisions with the workspace. Differently from previous approaches, the method is suitable for both velocity and torque-actuated robots. We propose a new distance function and its corresponding Jacobian in order to generate a VFI to limit the angle between two Pl"ucker lines. This new VFI is used to prevent both undesired end-effector orientations and violation of joints limits. The proposed method is evaluated in a realistic simulation and on a real humanoid robot, showing that all constraints are respected while the robot performs a manipulation task.