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| Content Provider | Springer Nature Link |
|---|---|
| Author | Lanteigne, Eric Jnifene, Amor |
| Copyright Year | 2014 |
| Abstract | This article describes a biologically inspired node generator for the path planning of serially connected hyper-redundant manipulators using probabilistic roadmap planners. The generator searches the configuration space surrounding existing nodes in the roadmap and uses a combination of random and deterministic search methods that emulate the behaviour of octopus limbs. The strategy consists of randomly mutating the states of the links near the end-effector, and mutating the states of the links near the base of the robot toward the states of the goal configuration. When combined with the small tree probabilistic roadmap planner, the method was successfully used to solve the narrow passage motion planning problem of a 17 degree-of-freedom manipulator. |
| Starting Page | 153 |
| Ending Page | 161 |
| Page Count | 9 |
| File Format | |
| ISSN | 14768186 |
| Journal | International Journal of Automation and Computing |
| Volume Number | 11 |
| Issue Number | 2 |
| e-ISSN | 17518520 |
| Language | English |
| Publisher | Springer-Verlag |
| Publisher Date | 2015-03-12 |
| Publisher Place | Berlin, Heidelberg |
| Access Restriction | Subscribed |
| Subject Keyword | Path planning hyper-redundant manipulators probabilistic road map (PRM) quasi-deterministic node generation bi-directional search algorithm Control, Robotics, Mechatronics Computer Applications Computer-Aided Engineering (CAD, CAE) and Design |
| Content Type | Text |
| Resource Type | Article |
| Subject | Applied Mathematics Control and Systems Engineering Modeling and Simulation Computer Science Applications |
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