Task space motion planning using reactive control

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 5934-5940

  Behnisch, Matthias ^a   Haschke, Robert ^a   Gienger, Michael ^b  

^a BIELEFELD UNIVERSITY   (Germany)

^b HONDA RESEARCH INSTITUTE EUROPE GMBH   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

AVOID OBSTACLES; FEASIBLE SOLUTION; HIGH-DIMENSIONAL; JOINT SPACE; PLANNING METHOD; PLANNING PROBLEM; PLANNING TIME; RANDOM TREE; REACTIVE CONTROL; REACTIVE PLANNERS; ROBOT MOTION; SAMPLING POINTS; SAMPLING-BASED; SAMPLING-BASED METHOD; SHORT TIME SCALE; TASK SPACE;

INTELLIGENT ROBOTS; PLANNING;

ROBOT PROGRAMMING;

EID: 78651489373     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5651285     Document Type: Conference Paper

References (22)

1. O. Khatib, "Real-Time Obstacle Avoidance for Manipulators and Mobile Robots," The International Journal of Robotics Research, vol. 5, no. 1, p. 90, 1986.
2. M. Gienger, H. Janssen, and C. Goerick, "Task-oriented whole body motion for humanoid robots," in Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2005.
3. M. Toussaint, M. Gienger, and C. Goerick, "Optimization of sequential attractor-based movement for compact movement representation," in Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2007.
4. H. Sugiura, M. Gienger, H. Janssen, and C. Goerick, "Real-time self collision avoidance with whole body motion control for humanoid robots," in Proceedings of the IEEE-RSJ International Conference on Intelligent Robots and Systems, 2007.
5. H. Choset, K. M. Lynch, S. Hutchinson, G. A. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, 2005.
6. S. LaValle, Planning Algorithms. Cambridge University Press, 2006.
7. D. Bertram, J. Kuffner, R. Dillmann, and T. Asfour, "An integrated approach to inverse kinematics and path planning for redundant manipulators," in Proceedings of the IEEE International Conference on Robotics and Automation, 2006.
8. S. LaValle, "Rapidly-exploring random trees: A new tool for path planning," Computer Science Dept, Iowa State University, Tech. Rep. TR, pp. 98-11, 1998.
9. M. V. Weghe, D. Ferguson, and S. Srinivasa, "Randomized path planning for redundant manipulators without inverse kinematics," in Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2007.
10. R. Diankov, N. Ratliff, D. Ferguson, S. Srinivasa, and J. Kuffner, "Bispace planning: Concurrent multi-space exploration," in Proceedings of Robotics: Science and Systems IV, 2008.
11. A. Shkolnik and R. Tedrake, "Path planning in 1000+ dimensions using a task-space voronoi bias," in Proceedings of the IEEE International Conference on Robotics and Automation, 2009.
12. O. Brock and L. Kavraki, "Decomposition-based motion planning: A framework for real-time motion planning in high-dimensional configuration spaces," in Proceedings of the IEEE International Conference on Robotics and Automation, 2001.
13. O. Brock and O. Khatib, "Elastic strips: A framework for motion generation in human environments," The International Journal of Robotics Research, vol. 21, no. 12, p. 1031, 2002.
14. Y. Yang and O. Brock, "Elastic roadmaps: Globally task-consistent motion for autonomous mobile manipulation in dynamic environments," in Proceedings of Robotics: Science and Systems, 2006.
15. Y. Nakamura, Advanced Robotics: Redundancy and Optimization. Addison-Wesley Publishing Co., Inc., 1991.
16. D. Hsu, R. Kindel, J. Latombe, and S. Rock, "Randomized kino-dynamic motion planning with moving obstacles," The International Journal of Robotics Research, vol. 21, no. 3, p. 233, 2002.
17. S. LaValle and J. Kuffner Jr, "Rapidly-exploring random trees: Progress and prospects," in Algorithmic and Computational Robotics: New Directions: the Fourth Workshop on the Algorithmic Foundations of Robotics, 2001, p. 293.
18. J. Phillips, N. Bedrossian, and L. Kavraki, "Guided expansive spaces trees: a search strategy for motion-and cost-constrained state spaces," in Proceedings of the IEEE International Conference on Robotics and Automation, 2004.
19. B. Burns and O. Brock, "Single-query motion planning with utility-guided random trees," in Proceedings of the IEEE International Conference on Robotics and Automation, 2007, pp. 3307-3312.
20. CM Labs Vortex. [Online]. Available: http://www.vxsim.com/
21. E. Plaku, K. Bekris, and L. Kavraki, "Oops for motion planning: An online, open-source, programming system," in Proceedings of the IEEE International Conference on Robotics and Automation, 2007.
22. OOPSMP. [Online]. Available: http://www.kavrakilab.rice.edu/