NDLI: Efficient Motion Planning of Highly Articulated Chains using Physics-based Sampling

Content Provider	IEEE Xplore Digital Library
Author	Gayle, R. Redon, S. Sud, A. Lin, M.C. Manocha, D.
Copyright Year	2007
Description	Author affiliation: Dept. of Comput. Sci., North Carolina Univ., Chapel Hill, NC (Gayle, R.)
Abstract	We present a novel motion planning algorithm that efficiently generates physics-based samples in a kinematically and dynamically constrained space of a highly articulated chain. Similar to prior kinodynamic planning methods, the sampled nodes in our roadmaps are generated based on dynamic simulation. Moreover, we bias these samples by using constraint forces designed to avoid collisions while moving toward the goal configuration. We adaptively reduce the complexity of the state space by determining a subset of joints that contribute most towards the motion and only simulate these joints. Based on these configurations, we compute a valid path that satisfies non-penetration, kinematic, and dynamics constraints. Our approach can be easily combined with a variety of motion planning algorithms including probabilistic roadmaps (PRMs) and rapidly-exploring random trees (RRTs) and applied to articulated robots with hundreds of joints. We demonstrate the performance of our algorithm on several challenging benchmarks
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	3319
Ending Page	3326
File Size	542924
Page Count	8
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363985
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sampling methods Robots Motion planning Kinematics Minimally invasive surgery Inspection Biological system modeling Space exploration Robotics and automation Videoconference
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
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
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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