Motion Planning with Cartesian Workspace Information
نویسندگان
چکیده
منابع مشابه
Cartesian Motion Planning & Task Programming with CRAFTSMAN
I. INTRODUCTION Deploying multi-degree-of-freedom robot systems in real-world environments will require motion and task planning software for manipulation that is robust, flexible, and easy to use by non-PhD users. While many robot manufacturers provide custom, proprietary solutions for their systems, there is no industry standard that can be used on different platforms, can quickly adjust to n...
متن کاملA Workspace Decomposition for Hierarchical Motion Planning with Humanoid Robots
This paper presents a hierarchical motion planner for humanoid robots navigating complex environments. We use a workspace decomposition that allows our planning algorithm to be separated into high-level, subgoal, and local algorithms. The workspace decomposition consists of a passage map, obstacle map, gradient map, and local map. We verify our approach using a virtual humanoid robot in a simul...
متن کاملMotion planning in Cartesian product graphs
Let G be an undirected graph with n vertices. Assume that a robot is placed on a vertex and n − 2 obstacles are placed on the other vertices. A vertex on which neither a robot nor an obstacle is placed is said to have a hole. Consider a single player game in which a robot or obstacle can be moved to adjacent vertex if it has a hole. The objective is to take the robot to a fixed destination vert...
متن کاملSnakeboard Motion Planning with Local Trajectory Information
We address trajectory generation for the snakeboard, a system commonly studied in the geometric mechanics community. Our approach derives a solution using body coordinates and local trajectory information, leading to a more intuitive solution compared to prior work. The simple forms of the solution clearly show how they depend on local curvature and desired velocity profile, allowing for a desc...
متن کاملMotion Planning with Uncertain Information in Robotic Tasks
Motion Planning with Uncertain Information in Robotic Tasks
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2020
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2020.12.2686