Patent
Path planning apparatus and method of Robot
TLDR
In this article, a path planning algorithm for a robot to find an optimal path along which a manipulator of a robot moves to a goal point from a start point is presented.Abstract:
Disclosed herein are a path planning apparatus and a method for a robot to plan an optimal path along which a manipulator of a robot moves to a goal point from a start point. An obstacle within a prescribed angle on a straight line connecting a start point and a goal point is recognized as a middle point in a configuration space and arbitrary points separated from the middle point by a prescribed distance are selected. Among the selected points, arbitrary points which can directly connect the start point and the goal point without passing the obstacle are selected as waypoints to map a new middle node. A path is extended via the middle node and extension of a tree in a wrong direction is minimized so that the manipulator is not struck at local minima without depending greatly on a goal score, thereby improving the performance of path planning and rapidly searching for a path.read more
Citations
More filters
Patent
Robot and control method thereof
TL;DR: In this article, a robot with a hand and an arm, a grip sensor unit configured to enable the hand to sense an object, and a grasp control unit that determines whether the hand grips the object from gripping information obtained from the gripper sensor unit.
Patent
Human-Robot Interface Apparatuses and Methods of Controlling Robots
TL;DR: In this article, a method of controlling a robot using a human-robot interface apparatus in two-way wireless communication with the robot includes displaying on a display interface a two-dimensional image, an object recognition support tool library, and an action support tools library.
Patent
Robotic grasping of items in inventory system
Parris S. Wellman,Matthew David Verminski,Andrew Stubbs,Robert Michael Shydo,Claretti Ennio,Boris Aronchik,John Gregory Longtine +6 more
TL;DR: In this paper, a robotic arm or manipulator can be used to grasp inventory items within an inventory system, and information about an item to be grasped can be detected and/or accessed from one or more databases to determine a grasping strategy for grasping the item with the robotic arm.
Patent
Generating robotic grasping instructions for inventory items
Parris S. Wellman,Matthew David Verminski,Andrew Stubbs,Robert Michael Shydo,Claretti Ennio,Boris Aronchik,John Gregory Longtine +6 more
TL;DR: In this article, robotic arms are used to grasp inventory items within an inventory system, and information about an inventory item to be grasped can be detected and used to determine a grasping strategy in conjunction with information from a database.
Patent
Real-Time Determination of Object Metrics for Trajectory Planning
TL;DR: In this article, a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a set of possible object measurements is determined. But the method may also include receiving sensor data from one or more sensors indicative of one or multiple measurements of the object.
References
More filters
Book ChapterDOI
Optimal and efficient path planning for partially-known environments
TL;DR: A new algorithm, D*, is introduced, capable of planning paths in unknown, partially known, and changing environments in an efficient, optimal, and complete manner.
Proceedings ArticleDOI
Path planning using lazy PRM
Robert Bohlin,Lydia E. Kavraki +1 more
TL;DR: The overall theme of the algorithm, called Lazy PRM, is to minimize the number of collision checks performed during planning and hence minimize the running time of the planner.
Patent
Method and system for multi-mode coverage for an autonomous robot
Joseph L. Jones,Philip R. Mass +1 more
TL;DR: In this article, a behavior-based control system for a mobile robot is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode and a random bounce mode.
Patent
Method for planning/controlling robot motion
TL;DR: In this article, a computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position, and a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus.
Patent
Bin-picking system for randomly positioned objects
Louis Perreault,Pierre Olivier +1 more
TL;DR: In this article, a method for picking up objects randomly arranged in a bin using a robot having a gripper for grasping the objects using prehension feature(s) on the object.