Fast distance queries with rectangular swept sphere volumes

Abstract-The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand motions, but reducing the dimension of the search space in order to obtain results as a compromise between motion optimality and planning complexity (time) by means of the concept of principal motion directions. Basically, the work includes the following phases: capturing the human hand workspace using a sensorized glove and mapping it to the mechanical hand workspace, reducing the space dimension by looking for the most relevant principal motion directions, and planning the hand movements using a sampling-based roadmap planner. The approach has been implemented for a four finger anthropomorphic mechanical hand, and some examples are included to illustrate its validity.

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“…The use of a simple and efficient collision detection library like PQP [25] is mandatory since this is a time-consuming step of the process.…”

Section: A the Algorithmmentioning

confidence: 99%

Motion planning for high DOF anthropomorphic hands

Rosell

Suárez

Rosales

et al. 2009

2009 IEEE International Conference on Robotics and Automation

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“…The collision detection simulation is done using the Proximity Query Package (PQP) (Larsen et al 2000), which is a software library for proximity queries, including collision detection of a pair of geometric models composed of triangles. The used geometric models are the 3D CAD models of the geometries of the robots and press dies in the real-world press line.…”

Section: Outer Loopmentioning

confidence: 99%

“…1). The next step is the collision detection simulation between the obstacle(s) and the dynamic deformation of the part, end-effector and robot, which is also done using the PQP library (Larsen et al 2000).…”

Section: Inner Loopmentioning

confidence: 99%

End-effector design optimisation and multi-robot motion planning for handling compliant parts

Glorieux

Franciosa

Ceglarek

2017

Struct Multidisc Optim

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The deformation of compliant parts during material handling is a critical issue that can significantly affect the productivity and the parts' dimensional quality. There are multiple relevant aspects to consider when designing end-effectors to handle compliant parts, e.g. motion planning, holding force, part deformations, collisions, etc. This paper focuses on multi-robot material handling systems where the end-effector designs influence the coordination of the robots to prevent that these collide in the shared workspace. A multi-disciplinary methodology for end-effector design optimisation and multi-robot motion planning for material handling of compliant parts is proposed. The novelty is the co-adaptive optimisation of the end-effectors' structure with the robot motion planning to obtain the highest productivity and to avoid excessive part deformations. Based on FEA, the dynamic deformations of the parts are modelled in order to consider these during the collision avoidance between the handled parts and obstacles. The proposed methodology is evaluated for a case study that considers the multi-robot material handling of sheet metal parts in a multi-stage tandem press line. The results show that a substantial improvement in productivity can be achieved (up to 1.9%). These also demonstrate the need and contribution of the proposed methodology.

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“…For the upper part of the robot we are less precise and use rough bounding boxes. In [5], the swept volume approximation are stored in tree structures and designed to be efficiently tested against points of the environment, but in our implementation we use these tree structures to first build triangle meshes representing the swept volume approximations, and then use the PQP algorithm [9] to check collisions against triangle meshes in the environment.…”

Section: B Collision Detectionmentioning

confidence: 99%

Real-time replanning using 3D environment for humanoid robot

Baudouin

Perrin

Moulard

et al. 2011

2011 11th IEEE-RAS International Conference on Humanoid Robots

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Abstract-In this paper, we illustrate experimentally an original real-time replanning scheme and architecture for humanoid robot reactive walking. Based on a dense set of actions, our approach uses a large panel of the humanoid robot capabilities and is particularly well suited for 3D collision avoidance. Indeed A-* approaches becomes difficult in such situation, thus the method demonstrated here relies on RRT. Combined with an approximation of the volume swept by the robot legs while walking, our method is able to cope with 3D obstacles while maintaining real-time computation. We experimentally validate our approach on the robot HRP-2.

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Fast distance queries with rectangular swept sphere volumes

Cited by 273 publications

References 19 publications

Motion planning for high DOF anthropomorphic hands

Motion planning for high DOF anthropomorphic hands

End-effector design optimisation and multi-robot motion planning for handling compliant parts

Real-time replanning using 3D environment for humanoid robot

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