Showing papers by "Paolo Robuffo Giordano published in 2006"
15 May 2006
TL;DR: Assuming that the robotic system is kinematically redundant for a given task, the extension of redundancy resolution schemes originally developed for standard manipulators, in particular the projected gradient (PG) and the reduced gradient (RG) optimization-based methods are presented.
Abstract: We consider robotic systems made of a nonholonomic mobile platform carrying a manipulator (nonholonomic mobile manipulator, NMM). By combining the manipulator differential kinematics with the admissible differential motion of the platform, a simple and general kinematic model for NMMs is derived. Assuming that the robotic system is kinematically redundant for a given task, we present the extension of redundancy resolution schemes originally developed for standard manipulators, in particular the projected gradient (PG) and the reduced gradient (RG) optimization-based methods. The case of a configuration-dependent task specification is also discussed. The proposed modeling approach is illustrated with reference to representative NMMs, and the performance of the PG and RG methods for redundancy resolution is compared on a series of numerical case studies
78 citations
TL;DR: The solution extends previous work of Reeds and Shepp by finding the shortest path to a manifold (rather than to a point) in configuration space by based on optimal control theory.
Abstract: This paper shows how to compute the nonholonomic distance between a polygonal car-like robot and polygonal obstacles. The solution extends previous work of Reeds and Shepp by finding the shortest path to a manifold (rather than to a point) in configuration space. Based on optimal control theory, the proposed approach yields an analytic solution to the problem
29 citations