A global approach for motion generation of non-holonomic mobile manipulators

Perrier, C.; Dauchez, P.; Pierrot, François

doi:10.1109/robot.1998.680881

Cited by 22 publications

(12 citation statements)

References 6 publications

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“…Many approaches have been proposed for the generation of a coordinated motion of these structures, in particular for mobile manipulators with nonholonomic motion constraints (Seraji 1993;Desai and Kumar 1997;Perrier et al 1998). Given a specific trajectory of the end-effector, methods have been proposed to generate a coordinated motion for the overall system (Mohri et al 2001).…”

Section: Motion Coordination For Redundant Manipulatorsmentioning

confidence: 99%

Elastic Strips: A Framework for Motion Generation in Human Environments

2002

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Robotic applications are expanding into dynamic, unstructured, and populated environments. Mechanisms specifically designed to address the challenges arising in these environments, such as humanoid robots, exhibit high kinematic complexity. This creates the need for new algorithmic approaches to motion generation, capable of performing task execution and real-time obstacle avoidance in high-dimensional configuration spaces. The elastic strip framework presented in this paper enables the execution of a previously planned motion in a dynamic environment for robots with many degrees of freedom. To modify a motion in reaction to changes in the environment, real-time obstacle avoidance is combined with desired posture behavior. The modification of a motion can be performed in a task-consistent manner, leaving task execution unaffected by obstacle avoidance and posture behavior. The elastic strip framework also encompasses methods to suspend task behavior when its execution becomes inconsistent with other constraints imposed on the motion. Task execution is resumed automatically, once those constraints have been removed. Experiments demonstrating these capabilities on a nine degree-of-freedom mobile manipulator and a 34 degree-of-freedom humanoid robot are presented, proving the elastic strip framework to be a powerful and versatile task-oriented approach to real-time motion generation and motion execution for robots with a large number of degrees of freedom in dynamic environments.

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Section: Motion Coordination For Redundant Manipulatorsmentioning

confidence: 99%

Elastic Strips: A Framework for Motion Generation in Human Environments

2002

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“…The approach is kinematic and requires additional constraints to be met for the manipulator configuration. Perrier et al (1998) represented the nonholonomy of the vehicle as a constrained displacement and tried to make the global feasible displacement of the system correspond to the desired one. Foulon et al (1999) considered the problem of task execution by coordinating the displacements of a nonholonomic platform with a robotic arm using an intuitive planner, where a transformation was presented.…”

Section: Introductionmentioning

confidence: 99%

A fuzzy-genetic algorithm and obstacle path generation for walking robot with manipulator

Pajaziti

Gojani

Buza

et al. 2011

Using Robots in Hazardous Environments

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“…It consists of a 6x6 vehicle fitted with a PUMA manipulator. Several control laws are featured: global movement of the whole mobile manipulator [6], force-driven control laws, PID control law, ... In this present work, we use a computed torque method [7] to control the arm.…”

Section: Teleoperation Platformmentioning

confidence: 99%

Telerobotics over IP networks: Towards a low-level real-time architecture

Lelevé¹,

Fraisse²,

Dauchez³

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics I

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Long distance teleoperation over asynchronous transmission links makes many classical teleoperation schemes unstable. The use of this kind of media involves varying transmission delays that may become prohibitive even at short distance. However, they are standardized, cheap and widespread over the planet. This paper presents our latest works on the improvement of teleoperation loops, by providing a low-level architecture which permits the use of classical teleoperation controls over asynchronous digital links.

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A global approach for motion generation of non-holonomic mobile manipulators

Cited by 22 publications

References 6 publications

Elastic Strips: A Framework for Motion Generation in Human Environments

Elastic Strips: A Framework for Motion Generation in Human Environments

A fuzzy-genetic algorithm and obstacle path generation for walking robot with manipulator

Telerobotics over IP networks: Towards a low-level real-time architecture

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