Online via-points trajectory generation for reactive manipulations

Zhao, Ran; Sidobre, Daniel; He, Wuwei

doi:10.1109/aim.2014.6878252

Cited by 7 publications

(6 citation statements)

References 12 publications

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“…The head motion when scanning its surroundings is jerky due to the motion controllers. Using soft controllers like in Zhao et al (2014) could solve this problem, however to the best of our knowledge, there is no such package available for the PR2 robot. Third, the registration process is dependent on the localization precision which add to the noise.…”

Section: Resultsmentioning

confidence: 99%

Autonomous Apartment Exploration, Modelling and Segmentation for Service Robotics

et al. 2016

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This work proposes a full pipeline for a robot to explore, model and segment an apartment from a 2-D map. Viewpoints are found offline and then visited by the robot to create a 3-D model of the environment. This model is segmented in order to find the various rooms and how they are linked (windows, doors, walls) yielding a topological map. Moreover areas of interest are also segmented, in this case furniture's planar surfaces. The method is validated on a realistic three rooms apartment. Results show that, despite occlusion, autonomous exploration and modeling covers 95% of the apartment. For the segmentation part, 1 link out of 14 is wrongly classified while all the existing areas of interest are found.

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Section: Resultsmentioning

confidence: 99%

Autonomous Apartment Exploration, Modelling and Segmentation for Service Robotics

et al. 2016

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“…A solution is to use more than one quintic, but doing so they loose all interest, as simpler solutions exist. More recently, sequences of cubic polynomial functions have been used to define a smooth trajectory joining arbitrary positions, velocities and accelerations [8,57]. In the following paragraphs, we present the major results on smooth trajectories categorized in two main approaches.…”

Section: Smooth Trajectoriesmentioning

confidence: 99%

“…Yet, this solution has drawbacks, since it is not possible to both impose the time and keep the jerk bounded. An improvement is proposed by Zhao et al [57], which allows to have an imposed time and bounded jerk for sufficient large motions. For a point to point movement in an N-dimensional space, the time optimum straightline motion is obtained by projecting the constraints on the line [52].…”

Section: Constrained-jerk Modelmentioning

confidence: 99%

Smooth Cubic Polynomial Trajectories for Human-Robot Interactions

Sidobre

Desormeaux

2018

J Intell Robot Syst

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With the growing importance of Human-Robot Interaction (HRI), the movement of the robots requires more and more attention to address the issues related to safety, efficiency and ergonomics. Trajectories are excellent candidates in the making of desirable motions designed for collaborative robots, because they allow to simply and precisely describe the motions. Despite the large number of works available for Online Trajectory Generation (OTG), there was, to our knowledge, no complete solution capable to simultaneously meet all the requirements of these new applications. In this paper we present a complete trajectory generation algorithm that build trajectories from arbitrary initial and final conditions, subject to general asymmetric bounds on jerk, acceleration and velocity. A review of the state of the art exposes the limits of the previous OTG works and reveals the difficult problem of non-linearity related with short motions. We explain how these non-linearities introduce discontinuities and we propose a solution based on sequences of segment of third degree polynomial functions.

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“…The SoftMotion controller has been independantly developped in order to generate motions for collaborative manipulators, i.e. soft motions more tolerable by an operator; this module was previously validated and adapted for a KUKA LWR-IV arm, as it was presented in (Zhao et al, 2014). Our reactive planner produces a path to be executed by the robot as a polygonal line defined by a sequence of via-points.…”

Section: State Of the Art For Obstacle Detection And Avoidancementioning

confidence: 99%

Reactive Planning on a Collaborative Robot for Industrial Applications

Dumonteil

Manfredi

Devy

et al. 2015

Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics

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A challenge for roboticists consists in promoting collaborative robotics for industrial applications, i.e. allowing robots to be used close to humans, without barriers. Safety becomes the key issue. For manipulation tasks, a part of the problem is solved using new arms like the KUKA LWR, which is able to physically detect a collision from torque measurements on each joint. Nevertheless it is better to avoid collisions, especially if the obstacle is the arm or the head of an operator. This paper describes how obstacles could be detected and avoided, using a single Kinect sensor for the monitoring of the workspace and the reactive planner of the KineoWorks T M software library for the real-time selection of an avoidance trajectory. Experimental results are provided as a proof that this dynamic obstacle avoidance strategy works properly.

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Online via-points trajectory generation for reactive manipulations

Cited by 7 publications

References 12 publications

Autonomous Apartment Exploration, Modelling and Segmentation for Service Robotics

Autonomous Apartment Exploration, Modelling and Segmentation for Service Robotics

Smooth Cubic Polynomial Trajectories for Human-Robot Interactions

Reactive Planning on a Collaborative Robot for Industrial Applications

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