An integrated approach to inverse kinematics and path planning for redundant manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 1874-1879

  Bertram, Dominik ^a,b   Kuffner, James ^b   Dillmann, Ruediger ^a   Asfour, Tamim ^a  

^a UNIVERSITY OF KARLSRUHE   (Germany)

^b CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; HEURISTIC METHODS; INTEGRATED CONTROL; INVERSE KINEMATICS; MOTION PLANNING; PROBLEM SOLVING;

GOAL CONFIGURATION; HEURISTIC FUNCTIONS; HUMANOID ROBOT; RAPIDLY EXPLORING RANDOM TREES (RRTS);

REDUNDANT MANIPULATORS;

EID: 33845631576     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1641979     Document Type: Conference Paper

References (21)

1. G. Wilfong, "Motion panning in the presence of movable obstacles," in Proc. ACM Symp. Computat. Geometry, 1988, pp. 279-288.
2. R. Alami, T. Simeon, and J.-P. Laumond, "A geometrical approach to planning manipulation tasks," in 5th Int. Symp. Robot. Res., 1989, pp. 113-119.
3. R. Alami, J.-P. Laumond, and T. Simeon, Two manipulation planning algorithms. Wellesley, MA: A.K. Peters, 1997, ch. Algorithms for Robotic Motion and Manipulation.
4. T. Simon, J.-P. Laumond, J. Corts, and A. Sahbani, "Manipulation planning with probabilistic roadmaps," International Journal of Robotics Research, vol. 23, no. 7, pp. 729-746, 2004.
5. J. J. Craig, Introduction to Robotics: Mechanics and Control. Addison-Wesley, 1989.
6. C. Klein and C. Huang, "Review on Pseudoinverse Control for Use with Kinematically Redundant Manipulators," IEEE Transactions on System, Man and Cybernetics, vol. 13, no. 3, pp. 245-250, 1983.
7. A. D'Souza, S. Vijayakumar, and S. Schaal, "Learning inverse kinematics," in Proc. IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems, 2001.
8. T. Lozano-Perez, "Spatial planning: a configuration space approach," IEEE Trans. Comput., pp. 108-120, 1983.
9. J. C. Latombe, Robot Motion Planning. Boston, MA: Kluwer Academic Publishers, 1991.
10. S. M. LaValle, Planning Algorithms. Cambridge University Press (also available at http://msl.cs.uiuc.edu/planning/), 2006, to be published in 2006.
11. L. Kavraki, P. Švestka, J. C. Latombe, and M. H. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration space," IEEE Trans. on Robotics and Automation, vol. 12, no. 4, pp. 566-580, 1996.
12. Y. Hirano, K. Kitahama, and S. Yoshizawa, "Image-based object recognition and dexterous hand/arm motion planning using rrts for grasping in cluttered scene," in Proc. IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems, 2005, pp. 3981-3986.
13. S. LaValle and J. Kuffner, "Randomized kinodynamic planning," International Journal of Robotics Research, vol. 20, no. 5, pp. 378-400, May 2001.
14. J. Kuffner and S. LaValle, "RRT-Connect: An efficient approach to single-query path planning," in Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2000), San Francisco, CA, Apr. 2000, pp. 995-1001.
15. S. Quinlan, "Real-time modification of collision-free paths," Ph.D. dissertation, Stanford University, 1994.
16. R. Geraerts and M. H. Overmars, "On improving the clearance for robots in high-dimensional configuration spaces," in Proc. IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems, 2005, pp. 4074-4079.
17. P. Cheng, "Reducing RRT metric sensitivity for motion planning with differential constraints," Master's thesis, Iowa State University, 2001.
18. T. Asfour and R. Dillmann, "Human-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem," in Proc. IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems, 2003.
19. E. Larsen, S. Gottschalk, M. C. Lin, and D. Manocha, "Fast proximity queries with swept sphere volumes," Department of Computer Science, University of N. Carolina, Chapel Hill, Tech. Rep., 1999.
20. K. Steinbach, "Improved sphere tree construction and minimum distance computation for 3d meshes," Master's thesis, University of Karlsruhe, 2005.
21. "interACT center," http://www.is.cs.cmu.edu/.