Title:
Deterministic Motion Planning for Redundant Robots along End-Effector Paths

dc.contributor.author Quispe, Ana Huamán
dc.contributor.author Stilman, Mike
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2013-07-18T17:13:36Z
dc.date.available 2013-07-18T17:13:36Z
dc.date.issued 2012-11
dc.description © 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. en_US
dc.description Presented at the 2012 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2012), 29 November-1 December 2012, Osaka, Japan.
dc.description.abstract In this paper we propose a deterministic approach to solve the Motion Planning along End-Effector Paths problem (MPEP) for redundant manipulators. Most of the existing approaches are based on local optimization techniques, hence they do not offer global guarantees of finding a path if it exists. Our proposed method is resolution complete. This feature is achieved by discretizing the Jacobian nullspace at each waypoint and selecting the next configuration according to a given heuristic function. To escape from possible local minima, our algorithm implements a backtracking strategy that allows our planner to recover from erroneous previous configuration choices by performing a breadth-first backwards search procedure. We present the results of simulated experiments performed with diverse manipulators and a humanoid robot. en_US
dc.embargo.terms null en_US
dc.identifier.citation Quispe, A.H. & Stilman, M. (2012). “Deterministic Motion Planning for Redundant Robots along End-Effector Paths”. Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2012), 29 November-1 December 2012. en_US
dc.identifier.uri http://hdl.handle.net/1853/48454
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Institute of Electrical and Electronics Engineers
dc.subject Path planning en_US
dc.subject Redundant manipulators en_US
dc.title Deterministic Motion Planning for Redundant Robots along End-Effector Paths en_US
dc.type Text
dc.type.genre Post-print
dc.type.genre Proceedings
dspace.entity.type Publication
local.contributor.corporatename Humanoid Robotics Laboratory
relation.isOrgUnitOfPublication 05bf85fb-965e-425d-af8b-dbf56e0d9797
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