Autonomous movement generation for manipulators with multiple simultaneous constraints using the attractor dynamics approach

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 5470-5477

  Reimann, Hendrik ^a   Iossifidis, Ioannis ^b   Schöner, Gregor ^a  

^a RUHR UNIVERSITY BOCHUM   (Germany)

^b Hochschule Ruhr West University of Applied Sciences   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ATTRACTOR DYNAMICS; AUTONOMOUS MOVEMENT; COLLISION WITH OBSTACLE; CONTROL VARIABLE; GRASPING MOVEMENT; JOINT ANGLE; MANIPULATOR MOTION; NATURAL ENVIRONMENTS; ORIENTATION CONSTRAINT; ROBOTIC AGENTS; SYSTEMATIC STUDY; VECTOR FIELDS;

AUTONOMOUS AGENTS; DYNAMICAL SYSTEMS; DYNAMICS; GRIPPERS;

ROBOTICS;

EID: 84868266124     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5980184     Document Type: Conference Paper

References (12)

1. H. Reimann, I. Iossifidis, and G. Schöner, "Generating collision free reaching movements for redundant manipulators using dynamical systems," in Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), accepted.
2. -, "Integrating orientation constraints into the attractor dynamics approach for autonomous manipulation," in Proceedings of the 2010 IEEE/RAS International Conference on Humanoid Robots, accepted.
3. R. B. Rusu, I. A. Sucan, B. Gerkey, S. Chitta, M. Beetz, and L. E. Kavraki, "Real-time perception-guided motion planning for a personal robot," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, USA, 2009.
4. J. Latombe, Robot motion planning. Kluwer Academic Publishers, Boston, 1991.
5. O. Khatib, "Real-Time Obstacle Avoidance for Manipulators and Mobile Robots," The International Journal of Robotics Research, vol. 5, no. 1, p. 90, 1986.
6. L. Sentis and O. Khatib, "Synthesis of whole-body behaviors through hierarchical control of behavioral primitives," International Journal of Humanoid Robotics, vol. 2, pp. 505-518, 2005.
7. A. J. Ijspeert, J. Nakanishi, and S. Schaal, "Movement imitation with nonlinear dynamical systems in humanoid robots," in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2002.
8. P. Pastor, H. Hoffmann, A. Asfour, and S. Schaal, "Learning and generalization of motor skills by learning from demonstration," in 9th IEEE-RAS International Conference on Humanoid Robots, 2009.
9. S. Khansari-Zadeh and A. Billard, "Imitation learning of globally stable non-linear point-to-point robot motions using nonlinear programming," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
10. H. Choset, S. Hutchinson, K. Lynch, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun, Principles of robot motion: Theory, algorithms, and implementation. The MIT Press, 2005.
11. J. M. Hollerbach and K. C. Suh, "Redundancy resolution of manipulators through torque optimization," IEEE Transactions on Robotics and Automation, vol. 3, pp. 308-316, 1987.
12. I. Iossifidis, C. Bruckhoff, C. Theis, C. Grote, C. Faubel, and G. Schöner, "Cora: An anthropomorphic robot assistant for human environment," in Robot and Human Interactive Communication, 2002, pp. 392-398.