NDLI: Motion planning for robotic manipulators with independent wrist joints

Content Provider	IEEE Xplore Digital Library
Author	Gochev, K. Narayanan, V. Cohen, B. Safonova, A. Likhachev, M.
Copyright Year	2014
Description	Author affiliation: Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Narayanan, V.; Likhachev, M.) \|\| Dept. of Comput. & Inf. Sci., Univ. of Pennsylvania, Philadelphia, PA, USA (Gochev, K.; Cohen, B.; Safonova, A.)
Abstract	Advanced modern humanoid robots often have complex manipulators with a large number of degrees of freedom. Thus, motion planning for such manipulators is a very computationally challenging problem. However, often robotic manipulators allow the wrist degrees of freedom to be controlled independently from the configuration of the rest of the arm. In this paper we show how to split the high dimensional planning problem into two lower-dimensional sub-problems - planning for the main arm joints and planning for the wrist joints, without losing guarantees on completeness. This approach is an extension of our previously developed framework for planning with adaptive dimensionality. Experimentally, we show that this approach is very effective in speeding up planning for robotic arms on Willow Garage's PR2 platform. We compare our algorithm with several popular alternative approaches for performing motion planning for robotic arms. The results we observe illustrate that our algorithm provides a good balance between planning time, planning success rate, path consistency, and path quality.
Starting Page	461
Ending Page	468
File Size	960727
Page Count	8
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6906896
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Planning Wrist Joints Manipulators Trajectory Vectors Heuristic Search Motion Planning Manipulation Planning Planning Algorithms
Content Type	Text
Resource Type	Article

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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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