Planning 3-D Collision-Free Dynamic Robotic Motion Through Iterative Reshaping
- 9 September 2008
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics
- Vol. 24 (5), 1186-1198
- https://doi.org/10.1109/tro.2008.2002312
Abstract
We propose a general and practical planning framework for generating 3-D collision-free motions that take complex robot dynamics into account. The framework consists of two stages that are applied iteratively. In the first stage, a collision-free path is obtained through efficient geometric and kinematic sampling-based motion planning. In the second stage, the path is transformed into dynamically executable robot trajectories by dedicated dynamic motion generators. In the proposed iterative method, those dynamic trajectories are sent back again to the first stage to check for collisions. Depending on the application, temporal or spatial reshaping methods are used to treat detected collisions. Temporal reshaping adjusts the velocity, whereas spatial reshaping deforms the path itself. We demonstrate the effectiveness of the proposed method through examples of a space manipulator with highly nonlinear dynamics and a humanoid robot executing dynamic manipulation and locomotion at the same time.Keywords
This publication has 35 references indexed in Scilit:
- Task-driven Support Polygon Reshaping for HumanoidsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Smooth Collision Avoidance: Practical Issues in Dynamic Humanoid MotionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Planning AlgorithmsPublished by Cambridge University Press (CUP) ,2006
- An inverse kinematics architecture enforcing an arbitrary number of strict priority levelsThe Visual Computer, 2004
- Biped walking pattern generation by using preview control of zero-moment pointPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- OpenHRP: Open Architecture Humanoid Robotics PlatformThe International Journal of Robotics Research, 2004
- Humanoid robot HRP-2Published by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Natural motion animation through constraining and deconstraining at willIEEE Transactions on Visualization and Computer Graphics, 2003
- Kinodynamic motion planningJournal of the ACM, 1993
- On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and TangentsAmerican Journal of Mathematics, 1957