Name
Abstract | ||
|---|---|---|
The motion of a mechanical system can be defined as a path through its configuration space. Computing such a path has a computational complexity scaling exponentially with the dimensionality of the configuration space. We propose to reduce the dimensionality of the configuration space by introducing the irreducible path — a path having a minimal swept volume. The paper consists of three parts: In part I, we define the space of all irreducible paths and show that planning a path in the irreducible path space preserves completeness of any motion planning algorithm. In part II, we construct an approximation to the irreducible path space of a serial kinematic chain under certain assumptions. In part III, we conduct motion planning using the irreducible path space for a mechanical snake in a turbine environment, for a mechanical octopus with eight arms in a pipe system and for the sideways motion of a humanoid robot moving through a room with doors and through a hole in a wall. We demonstrate that the concept of an irreducible path can be applied to any motion planning algorithm taking curvature constraints into account. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1016/j.robot.2018.08.012 | Robotics and Autonomous Systems |
Keywords | DocType | Volume |
Motion planning,Irreducible paths,Serial kinematic chain,Swept volume | Journal | 109 |
ISSN | Citations | PageRank |
0921-8890 | 2 | 0.37 |
References | Authors | |
16 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Andreas Orthey | 1 | 4 | 1.75 |
| Olivier Roussel | 2 | 2 | 1.05 |
| Olivier Stasse | 3 | 1438 | 85.86 |
| Michel Taïx | 4 | 363 | 96.09 |