NDLI: Haptic primitives guidance based on the Kautham path planner

Content Provider	IEEE Xplore Digital Library
Author	Vázquez, C. Rosell, J. Chirinos, L. Domínguez, O.A.
Copyright Year	2010
Description	Author affiliation: Mechatronics Automotive Research Center (CIMA), ITESM Toluca Campus, México (Vázquez, C.; Chirinos, L.) \|\| Institute of Industrial and Control Engineering - Technical University of Catalonia, Barcelona, Spain (Rosell, J.) \|\| ITESM Hidalgo Campus, México (Domínguez, O.A.)
Abstract	Path planning methods are well suited to automatically perform robotic tasks; haptic guidance is a powerful tool for disabled people rehabilitation, sports training, handcraft skills acquiring and such kind of enactive tasks. This paper proposes a novel an efficient method to accomplish guided movements by efficiently combing path planning methods and haptic guidance. The main contribution of this paper is the development of a reliable method to haptically guide the user within a virtual robotic task, by means of: on-line, collision free, path planning generated trajectories. To accomplish haptic guidance three stages must be correctly done: the first one where the user selects the desired objects and obstacles within a virtual environment to set up the task, the second one, where a path planner looks for the task trajectory and, the third one, where the user is constrained to on-line generated local channels and solution paths that offer a reliable path guidance system to achieve the task movements.
Starting Page	4686
Ending Page	4691
File Size	1225600
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649328
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Force Robots Harmonic analysis Trajectory Joining processes
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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