Motion Planning for Multilink Robots by Implicit Configuration-Space Tiling

Randomized preprocessing of configuration space for path planning: articulated robots

Robot Motion Planning by Approximation of Obstacles in Configuration Space

This paper describes an approach for automatic robot motion planning. A starting path consisting of the direct line connection from start to goal in the configuration space is generated first. At the most colliding configuration a new point is added and moved out of the collision. For this the configuration space is approximated using a corresponding skeleton robot and a point-like obstacle. A ...

Planning spiral motion of nonholonomic space robots

A freeying space robot with a 6 DOF manipulator cannot follow an arbitrary trajectory in the 9D generalized coordinates(3 of the satellite orientation and 6 of the manipulator) with only manipulator joint control, though it was shown to be commonly controllable in the literature. In this paper, we propose a method to approximate the desired 9D path by introducing a perturbation around it. We ca...

Spatial Path Planning of Static Robots Using Configuration Space Metrics

Obstacle avoidance and robot path planning problems have gained sufficient research attention due to its indispensable application demand in manufacturing vis-à-vis material handling sector, such as picking-andplacing an object, loading / unloading a component to /from a machine or storage bins. Visibility map in the configuration space (c-space) has become reasonably instrumental towards solvi...

Motion Planning for Humanoid Robots

Humanoid robotics hardware and control techniques have advanced rapidly during the last five years. Presently, several companies are developing commercial prototype full-body humanoid robots. This humanoid technology will contribute to the development of sophisticated prostheses in the medical field, as well as human augmentation systems on the military battlefield. In order to improve the auto...