Development of a configuration space motion planner for robot in dynamic environment

Wu, Xiaojun; Tang, Jiong; Li, Q.; Heng, K.H.

doi:10.1016/j.rcim.2007.04.004

Cited by 17 publications

(5 citation statements)

References 45 publications

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“…Four levels are selected for each parameter. The proposed set of experiments, according to the Taguchi method, is given in L' 16 In order for both the target position and orientation of the end effector to be approached, the best results (lowest computing time) are given for DH ¼3, MNA ¼25 and SR ¼2.…”

Section: Taguchi Design Of Experimentsmentioning

confidence: 99%

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On generating the motion of industrial robot manipulators

Kaltsoukalas

Makris

Chryssolouris

2015

Robotics and Computer-Integrated Manufacturing

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Section: Taguchi Design Of Experimentsmentioning

confidence: 99%

“…An on-line robot motion planning approach that is based upon pre-computing the global configuration space (C-space) connectivity is proposed. In [16], the motion planner consists of an off-line stage and an on-line stage and the collision-free path is searched in this C-space by using the A * algorithm under a multi-resolution strategy.…”

Section: Introductionmentioning

confidence: 99%

On generating the motion of industrial robot manipulators

Kaltsoukalas

Makris

Chryssolouris

2015

Robotics and Computer-Integrated Manufacturing

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“…However, the main shortcoming is that this method cannot fully describe the obstacle information in the environment. In Wu et al, 22 a highdimensional grid model was used to model the known static obstacles, and the potential field method was adopted to process the unmodeled dynamic obstacles for the manipulator trajectory planning. Flacco Fabrizio 23 proposed a method based on depth space offline mapping to divide depth space into depth grids.…”

Section: Introductionmentioning

confidence: 99%

Sensor-based skeleton modeling and MVEEs approach of the redundant manipulator for reaction motion

Xiong

Zhang

et al. 2022

Advances in Mechanical Engineering

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With the wide application of redundant manipulators, sharing a working space with humans and dealing with uncertainty seems an inevitable problem, especially in the dynamic and unstructured domain. How to deal with obstacle avoidance is of particular importance that robots and humans/environments are safe interactions to fulfill the complex cooperating tasks. This paper aimed at solving the problem of multiple points avoidance for the reaction motion based on the skeleton algorithm in unstructured and dynamic environments. A method named “sensor-based skeleton modeling and MVEEs approach of the redundant manipulator for the reaction motion” is proposed. The extraction of skeleton information from image is obtained to calculate the distances of the multiple control points and establish the repulsion in this method. Afterward, the force Jacobian related to the priority weighting factors is calculated and then a reaction force with damping term is established, which is corresponding nominal torque commands. For the redundant manipulator, the joint angles are obtained through torque iteration instead of inverse kinematics to reduce calculation cost. Finally, the method was tested by a 7-DOF manipulator in the ROS framework. The obtained results indicate that the method in this method can realize dynamic obstacle avoidance and time cost reduction.

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“…To autonomously drive in different environment, specific terrain description can effectively enhance robot shifting availability. The hierarchical data structure [ 12 ] identified and stored obstacle cells as non-uniform

trees, which is crucial before planning. The surface normals [ 13 ] on robot-centric elevation map are employed to select feasible footholds, organizing collision-free trajectories for swing feet.…”

Section: Introductionmentioning

confidence: 99%

A Deformable Configuration Planning Framework for a Parallel Wheel-Legged Robot Equipped with Lidar

Guo

Wang

Yue

et al. 2020

Sensors

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The wheel-legged hybrid robot (WLHR) is capable of adapting height and wheelbase configuration to traverse obstacles or rolling in confined space. Compared with legged and wheeled machines, it can be applied for more challenging mobile robotic exercises using the enhanced environment adapting performance. To make full use of the deformability and traversability of WHLR with parallel Stewart mechanism, this paper presents an optimization-driven planning framework for WHLR with parallel Stewart mechanism by abstracting the robot as a deformable bounding box. It will improve the obstacle negotiation ability of the high degree-of-freedoms robot, resulting in a shorter path through adjusting wheelbase of support polygon or trunk height instead of using a fixed configuration for wheeled robots. In the planning framework, we firstly proposed a pre-calculated signed distance field (SDF) mapping method based on point cloud data collected from a lidar sensor and a KD -tree-based point cloud fusion approach. Then, a covariant gradient optimization method is presented, which generates smooth, deformable-configuration, as well as collision-free trajectories in confined narrow spaces. Finally, with the user-defined driving velocity and position as motion inputs, obstacle-avoidancing actions including expanding or shrinking foothold polygon and lifting trunk were effectively testified in realistic conditions, demonstrating the practicability of our methodology. We analyzed the success rate of proposed framework in four different terrain scenarios through deforming configuration rather than bypassing obstacles.

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Development of a configuration space motion planner for robot in dynamic environment

Cited by 17 publications

References 45 publications

On generating the motion of industrial robot manipulators

On generating the motion of industrial robot manipulators

Sensor-based skeleton modeling and MVEEs approach of the redundant manipulator for reaction motion

A Deformable Configuration Planning Framework for a Parallel Wheel-Legged Robot Equipped with Lidar

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