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Using a Model of the Reachable Workspace to Position Mobile Manipulators for 3-d Trajectories
| Citations: | 4 - 2 self |
BibTeX
@MISC{Zacharias_usinga,
author = {Franziska Zacharias and Christoph Borst and Gerd Hirzinger},
title = {Using a Model of the Reachable Workspace to Position Mobile Manipulators for 3-d Trajectories},
year = {}
}
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Abstract
Abstract — Humanoid robots are envisioned in general household tasks. To be able to fulfill a given task the robot needs to be equipped with knowledge concerning the manipulation and interaction in the environment and with knowledge about its own capabilities. When performing actions, e.g. opening doors or imitating human reach to grasp movements special 3-d trajectories are followed with the robot’s end-effector. These trajectories can not be executed in every part of the robot’s arm workspace. Therefore a task planner has to determine if and how additional degrees of freedom such as the robot’s upper body or the robot’s base can be moved in order to execute the task-specific trajectory. An approach is presented that computes placements for a mobile manipulator online given a task-related 3-d trajectory. A discrete representation of the robot arm’s reachable workspace is used. Task-specific trajectories are interpreted as patterns and searched in the reachability model using multi-dimensional correlation. The relevance of the presented approach is demonstrated in simulated positioning tasks. I.
Keyphrases
position mobile manipulator reachable workspace 3-d trajectory task-specific trajectory task planner robot base multi-dimensional correlation additional degree robot upper body reachability model abstract humanoid robot movement special 3-d trajectory task-related 3-d trajectory general household task mobile manipulator online discrete representation simulated positioning task robot arm reachable workspace robot arm workspace human reach presented approach
