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Dynamical Systems Approach for the Autonomous Avoidance of Obstacles and Joint-limits for an Redundant Robot Arm

  • We extend the attractor dynamics approach to generate goal-directed movement of a redundant, anthropomorphic arm while avoiding dynamic obstacles and respecting joint limits. To make the robot's movements human-like, we generate approximately straight-line trajectories by using two heading direction angles of the tool-point quite analogously to how movement is represented in the primate central nervous system. Two additional angles control the tool's spatial orientation so that it follows the tool-point's collision-free path. A fifth equation governs the redundancy angle, which controls the elevation of the elbow so as to avoid obstacles and respect joint limits. These variables make it possible to generate movement while sitting in an attractor (or, in the language of the potential field approach, in a minimum). We demonstrate the approach on an assistant robot, which interacts with human users in a shared workspace

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Metadaten
Author:Ioannis Iossifidis, Gregor Schoener
URL:https://ieeexplore.ieee.org/abstract/document/4058405
DOI:https://doi.org/10.1109/IROS.2006.282468
ISSN:2153-0858
Parent Title (English):2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Document Type:Article
Language:English
Year of Completion:2006
Release Date:2019/04/29
Volume:2006
Issue:9-15 Oct.
Institutes:Fachbereich 1 - Institut Informatik
DDC class:000 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Licence (German):License LogoNo Creative Commons