Real-time adaptive motion planning for a continuum manipulator

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

Volumn , Issue , 2010, Pages 5919-5926

  Xiao, Jing ^a   Vatcha, Rayomand ^b  

^a UNIVERSITY OF NORTH CAROLINA AT CHARLOTTE   (United States)

^b University of North Carolina at Charlotte   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE MOTION; BACKBONE STRUCTURES; CLUTTERED ENVIRONMENTS; CONTINUUM ROBOT; MULTI-SECTION; NEW FORMS; ON-LINE PLANNING; REAL-TIME MOTION PLANNING; SIMULATION RESULT; TARGET OBJECT; UNCERTAIN CONDITION; WHOLE ARM MANIPULATION;

ALGORITHMS; INTELLIGENT ROBOTS; MANIPULATORS; MOTION PLANNING;

ROBOT PROGRAMMING;

EID: 78651505484     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5648888     Document Type: Conference Paper

References (22)

1. D. Berenson, J. Kuffner, and H. Choset, "An Optimization Approach to Planning for Mobile Manipulation," Proc. of IEEE Int. Conf. Robotics and Automation(ICRA), pp. 1187-1192, May 2008.
2. P.P. Bonissone, R. Subbu, N. Eklund, and T.R. Kiehl, "Evolutionary algorithms + domain knowledge = real-world evolutionary computation," IEEE Trans. Evolutionary Computation, 10(3):256-280, April 2006. (Pubitemid 43832504)
3. G.S. Chirikjian and J.W. Burdick, "An Obstacle Avoidance Algorithm for Hyper-Redundant Manipulators," ICRA, May 1990.
4. G.S. Chirikjian and J.W. Burdick, "A Hyper-Redundant Manipulator," IEEE Robot. and Automat. Magazine, pp. 22-29, Dec. 1994.
5. H. Choset and W. Henning, "A follow-the-leader approach to serpentine robot motion planning," ASCE J. Areospace Engin., 12(2):65-73, April 1999.
6. R. Cieslak and A. Morecki, "Elephant trunk type elastic manipulator a tool for bulk and liquid type materials transportation," Robotica, 17:11-16, 1999.
7. B. Dasgupta, A. Gupta, and E. Singla, "A variational approach to path planning for hyper-redundant manipulators," J. Robotics and Autonomous Sys., 57(2):194-201, Feb. 2009.
8. B.A. Jones and I.D. Walker, "Kinematics for multisection continuum robots," IEEE Trans. Robot., 22(1):43-55, Feb. 2006.
9. L.E. Kavraki, P. Svestka, J.-C. Latombe, and M.H. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," IEEE Trans. Robot. Automat., 12(4):566-580, 1996.
10. S.M. LaValle and J.J. Kuffner, "Randomized kinodynamic planning," Int. J. Robot. Res.(IJRR), 20(5):378-400, May 2001.
11. P. Leven and S. Hutchinson, "A framework for real-time path planning in changing environments," IJRR, 21:999-1030, 2002.
12. S. Ma and M. Konno, "An obstacle avoidance scheme for hyperredundant manipulators-global motion planning in posture space," ICRA, pp. 161-166, April 1997.
13. W. McMahan, B.A. Jones, I.D. Walker, V. Chitrakaran, A. Seshadri, and D. Dawson, "Robotic manipulators inspired by cephalopod limbs," Proc. of the CDEN Design Conf., Montreal, Canada, pp. 1-10, July 2004.
14. M. Moll and L.E. Kavraki, "Path Planning for Deformable Linear Objects," IEEE Trans. on Robotics, 22(4):625636, August 2006.
15. S. Neppalli, M.A. Csencsits, B.A. Jones, and I.D. Walker, "Closedform Inverse Kinematics for Continuum Manipulators," Advanced Robotics, 23:2077-2091, 2009.
16. D. Reznik and V. Lumelsky, "Motion planning with uncertainty for highly redundant kinematic structures I. "Free Snake" Motion," ICRA, pp. 1747-1752, July 1992.
17. G. Robinson and J.B.C. Davies, "Continuum Robots - A State of the Art," ICRA, pp. 2849-2854, May 1999.
18. M. Saha and P. Isto, "Motion Planning for Robotic Manipulation of Deformable Linear Objects," ICRA, pp. 2478-2484, May 2006.
19. J. Vannoy and J. Xiao, "Real-time Adaptive Motion Planning (RAMP) of Mobile Manipulators in Dynamic Environments with Unforeseen Changes," IEEE Trans. Robotics, 24(5):1199-1212, Oct. 2008.
20. R. Vatcha and J. Xiao, "Perceived CT-space for motion planning in unknown and unpredictable environments," 8th Int. Workshop Alg. Foundations of Robotics, Guanajuato, Mexico, Dec. 2008.
21. H. Wakamatsu, E. Arai, S. Hirai, "Knotting/unknotting Manipulation of Deformable Linear Objects," IJRR, 25(4):371-395, April 2006.
22. Y. Yang and O. Brock, "Elastic roadmaps: Globally task-consistent motion for autonomous mobile manipulation in dynamic environments," Robotics Sci. & Sys. II, The MIT Press, pp. 279-286, 2006.