Paper Info
Title
Real-time adaptive motion planning for a continuum manipulator
Abstract
Continuum manipulators, featuring “continuous backbone structures”, are promising for deft manipulation of a wide range of objects under uncertain conditions in less-structured and cluttered environments. A multi-section trunk/tentacle robot is such a continuum manipulator. With a continuum robot, manipulation means a continuous whole-arm motion, often without a clear distinction between transport and grasping. In this paper, we address the novel problem of real-time motion planning for such a robot under uncertain conditions. We present an algorithm for on-line planning the motion of a planar continuum robot for grasping a target object amid an environment of other objects with uncertain movements. Our algorithm substantially extends the RAMP paradigm for real-time adaptive motion planning to this new form of whole-arm manipulation. Simulation results are promising, demonstrating the effectiveness of our approach.
Year
DOI
Venue
2010
10.1109/IROS.2010.5648888
IROS
Keywords
Field
DocType
manipulator dynamics,deft manipulation,motion control,online planning,ramp paradigm,real-time adaptive motion planning,dexterous manipulators,planar continuum robot,whole-arm manipulation,mobile robots,continuous whole- arm motion,grasping,adaptive control,continuous backbone structure,path planning,continuum mechanics,grippers,multisection trunk-tentacle robot,continuum manipulator,planning,motion planning,trajectory,real time
Motion control,Control theory,Computer science,Control engineering,Artificial intelligence,Grippers,Trajectory,Motion planning,Computer vision,Continuum mechanics,Adaptive control,Robot,Mobile robot
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-4244-6674-0
4
PageRank 
References 
Authors
0.45
0
2
Name
Order
Citations
PageRank
Jing Xiao1453.74
Rayomand Vatcha2212.52