Elastic Strips: A Framework for Motion Generation in Human Environments

Brock, Oliver; Khatib, Oussama

doi:10.1177/027836402128964189

Cited by 105 publications

(152 citation statements)

References 15 publications

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“…Similar results are obtained for permutations other than the random one. While the observed diversity is not desirable when kinematically constrained chains need to follow a particular trajectory [97], this very feature of CCD allows us in this work to obtain different solutions and so explore different regions ofC.…”

Section: Analysis Of the Pem Exploration Of Conformation Spacementioning

confidence: 99%

Sampling Conformation Space to Model Equilibrium Fluctuations in Proteins

2007

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This paper proposes the Protein Ensemble Method (PEM) to model equilibrium fluctuations in proteins where fragments of the protein polypeptide chain can move independently of one another. PEM models global equilibrium fluctuations of a polypeptide chain by combining local fluctuations of consecutive overlapping fragments of the chain. Local fluctuations are computed by a probabilistic exploration that exploits analogies between proteins and robots. All generated conformations are subjected to energy minimization and then are weighted according to a Boltzmann distribution. Using the theory of statistical mechanics the Boltzmann-weighted fluctuations corresponding to each fragment are combined to obtain fluctuations for the entire protein. The agreement obtained between PEM-modeled fluctuations, wet-lab experiment and guided simulation measurements, indicates that PEM is able to reproduce with high accuracy protein equilibrium fluctuations that occur over a broad range of timescales.

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Section: Analysis Of the Pem Exploration Of Conformation Spacementioning

confidence: 99%

Sampling Conformation Space to Model Equilibrium Fluctuations in Proteins

2007

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“…There has been a surge of interest in autonomous mobile manipulation in human environments (Grupen and Brock 2004;Kemp et al 2007;Khatib et al 1999;Brock and Khatib 2002;Zllner et al 2004;Bluethmann et al 2004;Waarsing et al 2001;Inamura et al 2008;Okada et al 2005;Hillenbrand et al 2004;Kragić et al 2002).…”

Section: Autonomous Mobile Manipulationmentioning

confidence: 99%

EL-E: an assistive mobile manipulator that autonomously fetches objects from flat surfaces

2009

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Assistive mobile robots that autonomously manipulate objects within everyday settings have the potential to improve the lives of the elderly, injured, and disabled. Within this paper, we present the most recent version of the assistive mobile manipulator EL-E with a focus on the subsystem that enables the robot to retrieve objects from and deliver objects to flat surfaces. Once provided with a 3D location via brief illumination with a laser pointer, the robot autonomously approaches the location and then either grasps the nearest object or places an object. We describe our implementation in detail, while highlighting design principles and themes, including the use of specialized behaviors, taskrelevant features, and low-dimensional representations.We also present evaluations of EL-E's performance relative to common forms of variation. We tested EL-E's ability to approach and grasp objects from the 25 object categories that were ranked most important for robotic retrieval by motor-impaired patients from the Emory ALS Center. Although reliability varied, EL-E succeeded at least once with objects from 21 out of 25 of these categories. EL-E also approached and grasped a cordless telephone on 12 different surfaces including floors, tables, and counter tops with 100% success. The same test using a vitamin pill (ca. 15 mm × 5 mm × 5 mm) resulted in 58% success.

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“…Also, in addition to extending the range of the manipulator, the addition of a mobile base adds kinematic redundancy, which allows the robot to avoid obstacles while completing tasks efficiently. Brock and Khatib defined the elastic strips framework in which a dynamic planner allows the mobile manipulator to move through a tunnel of free space (Brock and Khatib 2002). The controller tracks a desired end-effector path while keeping the manipulator's joints and the base away from obstacles.…”

Section: Coordinated Control Of Base and Manipulatormentioning

confidence: 99%

An autonomous mobile manipulator for assembly tasks

et al. 2009

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The fundamental difference between autonomous robotic assembly and traditional hard automation, currently utilized in large-scale manufacturing production, lies in the specific approaches used in locating, acquiring, manipulating, aligning, and assembling parts. An autonomous robotic assembly manipulator offers high flexibility and high capability to deal with the inherent system uncertainties, unknowns, and exceptions. This paper presents an autonomous mobile manipulator that effectively overcomes inherent system uncertainties and exceptions by utilizing control strategies that employ coordinated control, combine visual and force servoing, and incorporate sophisticated reactive task control. The mobile manipulation system has been demonstrated experimentally to achieve high reliability for a "pegin-hole" type of insertion assembly task that is commonly encountered in automotive wiring harness assembly.

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Elastic Strips: A Framework for Motion Generation in Human Environments

Cited by 105 publications

References 15 publications

Sampling Conformation Space to Model Equilibrium Fluctuations in Proteins

Sampling Conformation Space to Model Equilibrium Fluctuations in Proteins

EL-E: an assistive mobile manipulator that autonomously fetches objects from flat surfaces

An autonomous mobile manipulator for assembly tasks

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