NDLI: Real-time Motion Planning for Interaction between Human Arm and Robot Manipulator

Content Provider	IEEE Xplore Digital Library
Author	Hong Liu Kerning Chen Hongbin Zha
Copyright Year	2004
Description	Author affiliation: National Lab. on Machine Perception, Peking Univ., Beijing (Hong Liu; Kerning Chen; Hongbin Zha)
Abstract	This paper proposes a new scheme for solving real-time motion planning problems between a human arm and a robot manipulator. These problems are very important towards real-time human-robot interaction. For solving the real-time motion planning problems in dynamic interaction environments, a new method of obstacle direct mapping (ODM) is proposed. In preprocessing phase, a mapping from cells in workspace to nodes and edges in the road map of configuration space is constructed. The roadmap of C-space is constructed based on a PRM framework. In query phase, some determinate points on obstacles (human arm) surface are sampled, only the cells which contain at least one sampled point are mapped into the roadmap. Based on the points sampling on moving object's surface, translation and rotation of the object can be easily and rapidly expressed. Compared with the methods using online collision detection and A* searching technique, simulation experiments with real parameters of Kawasaki manipulator are implemented. The experimental results show that the proposed scheme is efficient and feasible for motion planning between a human arm and a robot manipulator
Sponsorship	IEEE Robotics and Autom. Soc. IEEE HK RA/CS Joint Chapter Chinese Acad. of Sci. Chinese High-tech Dev. Program Robotics Soc. of Japan Japan Soc. of Mech. Eng. Int. Rescue Syst. Inst
Starting Page	169
Ending Page	174
File Size	487662
Page Count	6
File Format	PDF
ISBN	0780386148
DOI	10.1109/ROBIO.2004.1521771
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-08-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion planning Human robot interaction Service robots Road accidents Orbital robotics Manipulator dynamics Arm Motion detection Costs Sampling methods Real Time Human-Robot Interaction Motion Planning Probabilistic Roadmaps(PRMs)
Content Type	Text
Resource Type	Article

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