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\BOOKMARK [0][-]{section*.1}{Acknowledgments}{}
\BOOKMARK [0][-]{section*.2}{Abstract}{}
\BOOKMARK [0][-]{section*.3}{Abstract - Deutsch}{}
\BOOKMARK [-1][]{part.1}{Introduction and Theory}{}
\BOOKMARK [0][-]{chapter.1}{Motivation}{part.1}
\BOOKMARK [1][-]{section.1.1}{Problem Statement}{chapter.1}
\BOOKMARK [1][-]{section.1.2}{Goals of this thesis}{chapter.1}
\BOOKMARK [1][-]{section.1.3}{Overview of this thesis}{chapter.1}
\BOOKMARK [0][-]{chapter.2}{Related Work - Stack of Tasks}{part.1}
\BOOKMARK [1][-]{section.2.1}{Prerequisites}{chapter.2}
\BOOKMARK [2][-]{subsection.2.1.1}{Least Square}{section.2.1}
\BOOKMARK [2][-]{subsection.2.1.2}{Quadratic Programming}{section.2.1}
\BOOKMARK [2][-]{subsection.2.1.3}{Inverse Kinematics Control Scheme}{section.2.1}
\BOOKMARK [1][-]{section.2.2}{Hierarchical Inverse Kinematics}{chapter.2}
\BOOKMARK [1][-]{section.2.3}{Inequality Constraints}{chapter.2}
\BOOKMARK [0][-]{chapter.3}{Collision Avoidance}{part.1}
\BOOKMARK [1][-]{section.3.1}{Closest Point Calculation}{chapter.3}
\BOOKMARK [2][-]{subsection.3.1.1}{Collision Geometry - Mesh}{section.3.1}
\BOOKMARK [2][-]{subsection.3.1.2}{Collision Geometry - Capsule}{section.3.1}
\BOOKMARK [2][-]{subsection.3.1.3}{Closest Point Pair for Capsule-Capsule}{section.3.1}
\BOOKMARK [1][-]{section.3.2}{Velocity Damping}{chapter.3}
\BOOKMARK [2][-]{subsection.3.2.1}{Jacobian Projection}{section.3.2}
\BOOKMARK [2][-]{subsection.3.2.2}{Inequality Formulation}{section.3.2}
\BOOKMARK [2][-]{subsection.3.2.3}{Integration into Hierarchy Solver}{section.3.2}
\BOOKMARK [1][-]{section.3.3}{Jacobian Calculation for Closest Point}{chapter.3}
\BOOKMARK [2][-]{subsection.3.3.1}{Jacobian Calculation for Rigid Body Parts}{section.3.3}
\BOOKMARK [2][-]{subsection.3.3.2}{Jacobian Calculation of Moving Points}{section.3.3}
\BOOKMARK [-1][]{part.2}{Implementation}{}
\BOOKMARK [0][-]{chapter.4}{Implementation Environment}{part.2}
\BOOKMARK [1][-]{section.4.1}{ROS\137control}{chapter.4}
\BOOKMARK [1][-]{section.4.2}{Stack of Task - Framework}{chapter.4}
\BOOKMARK [2][-]{subsection.4.2.1}{Dynamic Graph}{section.4.2}
\BOOKMARK [2][-]{subsection.4.2.2}{SoT Core}{section.4.2}
\BOOKMARK [1][-]{section.4.3}{Fast Collision Library \(FCL\)}{chapter.4}
\BOOKMARK [0][-]{chapter.5}{Collision Avoidance Implementation}{part.2}
\BOOKMARK [1][-]{section.5.1}{FCL Entity}{chapter.5}
\BOOKMARK [1][-]{section.5.2}{Velocity Damping Task}{chapter.5}
\BOOKMARK [1][-]{section.5.3}{Joint Limits Task}{chapter.5}
\BOOKMARK [1][-]{section.5.4}{Joint Weighting Task}{chapter.5}
\BOOKMARK [0][-]{chapter.6}{Experiments}{part.2}
\BOOKMARK [1][-]{section.6.1}{Robot Hardware Setup}{chapter.6}
\BOOKMARK [1][-]{section.6.2}{Experiments}{chapter.6}
\BOOKMARK [2][-]{subsection.6.2.1}{Continuous Trajectory of Closest Points}{section.6.2}
\BOOKMARK [2][-]{subsection.6.2.2}{External Collision Avoidance}{section.6.2}
\BOOKMARK [2][-]{subsection.6.2.3}{Self-Collision Avoidance}{section.6.2}
\BOOKMARK [1][-]{section.6.3}{Results \046 Discussion}{chapter.6}
\BOOKMARK [2][-]{subsection.6.3.1}{Violations of Safety Distance}{section.6.3}
\BOOKMARK [2][-]{subsection.6.3.2}{Inversion of Hierarchy}{section.6.3}
\BOOKMARK [0][-]{chapter.7}{Conclusion}{part.2}
\BOOKMARK [0][-]{chapter.8}{Outlook}{part.2}
\BOOKMARK [0][-]{equation.8.0.2}{Bibliography}{part.2}