In this paper, a coordination strategy for determining collision free path of end effectors of two manipulators involved in coordinated manipulation is proposed. This strategy consists of collision checking and path planning modules. Collision checking is done by modeling the links and environment of manipulator using sphere swept volume technique and utilizing minimum distance heuristic for in...

This paper describes a 3D path planning system that is able to provide a solution trajectory for the automatic control of a robot. The proposed system uses a point cloud obtained from the robot workspace, with a Kinect V2 sensor to identify the interest regions and the obstacles of the environment. Our proposal includes a collision-free path planner based on the Rapidly-exploring Random Trees v...

This paper presents a 3D online path planning algorithm for unmanned aerial vehicle (UAV) flying in partially known hostile environment. In order to provide a smooth fight route for UAV, the algorithm adopts B-Spline curve to describe UAV’s path whose control points are optimized by an improved differential evolution algorithm. The planner gradually produces a smooth path for UAV from starting ...

Recognizing its surroundings is important for biped robots seeking a destination. In this paper, we propose a motion planning method of a biped robot including path planning and obstacle avoidance. The robot obtains distance information on its surrounding environment from images captured by a stereo camera system, and generates a 3D map, then, builds a 2D grid map that locates flat floor region...

Cochlear implant surgery allows surgeons to restore partial hearing to patients suffering from severe hearing loss due to damaged neuroepithelial (hair) cells. During this surgery surgeons insert long, thin, and flimsy electrodes into the scala tympani inside cochlea. Our goal is to develop a robotic system to help surgeons achieve atraumatic cochlear implant surgery using novel steerable cochl...

A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. The method works by incrementally building two Rapidly-exploring Random Trees (RRTs) rooted at the start and the goal configurations. The trees each explore space around them and also advance towards each other through the use of a simple greedy heur...

DBS for Parkinson's disease involves an extensive planning to find a suitable electrode implantation path to the selected target. We have investigated the feasibility of improving the conventional planning with an automatic calculation of possible paths in 3D. This requires the segmentation of anatomical structures. Subsequently, the paths are calculated and visualized. After selection of a sui...