使用相对距离空间表示的实时运动适应

Yiming Yang, V. Ivan, S. Vijayakumar
{"title":"使用相对距离空间表示的实时运动适应","authors":"Yiming Yang, V. Ivan, S. Vijayakumar","doi":"10.1109/ICAR.2015.7251428","DOIUrl":null,"url":null,"abstract":"Reacting to environment changes is a big challenge for real world robot applications. This paper presents a novel approach that allows the robot to quickly adapt to changes, particularly in the presence of moving targets and dynamic obstacles. Typically, a configuration space replanning or adaptation is required if the environment is changed. Rather, our method aims to maintain a plan, in a relative distance space rather than configuration space, that can be valid in different environments. In addition, we introduce an incremental planning structure that allows us to handle unexpected obstacles that may appear during execution. The main contribution is that the relative distance space representation encodes pose re-targeting, reaching and avoiding tasks within one unified cost term that can be solved in real-time to achieve a fast implementation for high degree of freedom (DOF) robots. We evaluate our method on a 7 DOF LWR robot arm, and a 14 DOF dual-arm Baxter robot.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"18","resultStr":"{\"title\":\"Real-time motion adaptation using relative distance space representation\",\"authors\":\"Yiming Yang, V. Ivan, S. Vijayakumar\",\"doi\":\"10.1109/ICAR.2015.7251428\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Reacting to environment changes is a big challenge for real world robot applications. This paper presents a novel approach that allows the robot to quickly adapt to changes, particularly in the presence of moving targets and dynamic obstacles. Typically, a configuration space replanning or adaptation is required if the environment is changed. Rather, our method aims to maintain a plan, in a relative distance space rather than configuration space, that can be valid in different environments. In addition, we introduce an incremental planning structure that allows us to handle unexpected obstacles that may appear during execution. The main contribution is that the relative distance space representation encodes pose re-targeting, reaching and avoiding tasks within one unified cost term that can be solved in real-time to achieve a fast implementation for high degree of freedom (DOF) robots. We evaluate our method on a 7 DOF LWR robot arm, and a 14 DOF dual-arm Baxter robot.\",\"PeriodicalId\":432004,\"journal\":{\"name\":\"2015 International Conference on Advanced Robotics (ICAR)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-07-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"18\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 International Conference on Advanced Robotics (ICAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.2015.7251428\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 International Conference on Advanced Robotics (ICAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.2015.7251428","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 18

摘要

对环境变化做出反应是现实世界机器人应用的一大挑战。本文提出了一种新颖的方法,使机器人能够快速适应变化,特别是在存在运动目标和动态障碍物的情况下。通常,如果环境发生变化,则需要重新规划或调整配置空间。相反,我们的方法旨在在相对距离空间(而不是配置空间)中维护一个可以在不同环境中有效的计划。此外,我们引入了一个增量计划结构,使我们能够处理在执行过程中可能出现的意外障碍。主要贡献是相对距离空间表示编码在一个统一的成本项内提出了重新定位,到达和避免任务,可以实时解决,以实现高自由度机器人的快速实现。我们在一个7自由度LWR机器人手臂和一个14自由度双臂Baxter机器人上对我们的方法进行了评估。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Real-time motion adaptation using relative distance space representation
Reacting to environment changes is a big challenge for real world robot applications. This paper presents a novel approach that allows the robot to quickly adapt to changes, particularly in the presence of moving targets and dynamic obstacles. Typically, a configuration space replanning or adaptation is required if the environment is changed. Rather, our method aims to maintain a plan, in a relative distance space rather than configuration space, that can be valid in different environments. In addition, we introduce an incremental planning structure that allows us to handle unexpected obstacles that may appear during execution. The main contribution is that the relative distance space representation encodes pose re-targeting, reaching and avoiding tasks within one unified cost term that can be solved in real-time to achieve a fast implementation for high degree of freedom (DOF) robots. We evaluate our method on a 7 DOF LWR robot arm, and a 14 DOF dual-arm Baxter robot.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信