Journal ArticleDOI
Real-time obstacle avoidance for manipulators and mobile robots
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This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.Abstract:
This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi tionally considered a high level planning problem, can be effectively distributed between different levels of control, al lowing real-time robot operations in a complex environment. This method has been extended to moving obstacles by using a time-varying artificial patential field. We have applied this obstacle avoidance scheme to robot arm mechanisms and have used a new approach to the general problem of real-time manipulator control. We reformulated the manipulator con trol problem as direct control of manipulator motion in oper ational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and kine matic transformation. Outside the obstacles' regions of influ ence, we caused the end effector to move in a straight line with an...read more
Citations
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Flocking for multi-agent dynamic systems: algorithms and theory
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Sampling-based algorithms for optimal motion planning
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The dynamic window approach to collision avoidance
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The vector field histogram-fast obstacle avoidance for mobile robots
Johann Borenstein,Yoram Koren +1 more
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Proceedings ArticleDOI
Series elastic actuators
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References
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Proceedings ArticleDOI
Impedance Control: An Approach to Manipulation
TL;DR: In this paper, a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance is presented, which results in a unified control of manipulator behaviour.
Book
Obstacle avoidance and navigation in the real world by a seeing robot rover
TL;DR: The Stanford AI Lab cart as discussed by the authors is a card-table sized mobile robot controlled remotely through a radio link, and equipped with a TV camera and transmitter equipped with an onboard TV system.
Book ChapterDOI
Solving the find-path problem by good representation of free space
TL;DR: An algorithm is presented which efficiently finds good collision-free paths for convex polygonal bodies through space littered with obstacle polygons by characterizing the volume swept by a body as it is translated and rotated as a generalized cone.