Pub Date : 2013-12-12DOI: 10.1109/ROBIO.2013.6739602
E. Kerr, T. Mcginnity, S. Coleman
The surface properties of an object and the environment in which it is located are important for robot grasping and manipulation. Physical contact with an object using tactile sensors can enable the retrieval of detailed information about the object, i.e. compressibility, surface texture and thermal properties. This paper describes a system that classifies materials based on their thermal properties alone, minimising the amount of manipulation required. Following acquisition of data from a sophisticated tactile sensor, the system uses an Artificial Neural Network (ANN) to classify materials based on representations of their thermal properties. The system was compared with human performance in the task of classifying materials and was found to perform better.
{"title":"Material classification based on thermal properties — A robot and human evaluation","authors":"E. Kerr, T. Mcginnity, S. Coleman","doi":"10.1109/ROBIO.2013.6739602","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739602","url":null,"abstract":"The surface properties of an object and the environment in which it is located are important for robot grasping and manipulation. Physical contact with an object using tactile sensors can enable the retrieval of detailed information about the object, i.e. compressibility, surface texture and thermal properties. This paper describes a system that classifies materials based on their thermal properties alone, minimising the amount of manipulation required. Following acquisition of data from a sophisticated tactile sensor, the system uses an Artificial Neural Network (ANN) to classify materials based on representations of their thermal properties. The system was compared with human performance in the task of classifying materials and was found to perform better.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115633117","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-12DOI: 10.1109/ROBIO.2013.6739655
Natalia Lyubova, David Filliat, S. Ivaldi
We present a developmental approach that allows a humanoid robot to continuously and incrementally learn entities through interaction with a human partner in a first stage before categorizing these entities into objects, humans or robot parts and using this knowledge to improve objects models by manipulation in a second stage. This approach does not require prior knowledge about the appearance of the robot, the human or the objects. The proposed perceptual system segments the visual space into proto-objects, analyses their appearance, and associates them with physical entities. Entities are then classified based on the mutual information with proprioception and on motion statistics. The ability to discriminate between the robot's parts and a manipulated object then allows to update the object model with newly observed object views during manipulation. We evaluate our system on an iCub robot, showing the independence of the self-identification method on the robot's hands appearances by wearing different colored gloves. The interactive object learning using self-identification shows an improvement in the objects recognition accuracy with respect to learning through observation only.
{"title":"Improving object learning through manipulation and robot self-identification","authors":"Natalia Lyubova, David Filliat, S. Ivaldi","doi":"10.1109/ROBIO.2013.6739655","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739655","url":null,"abstract":"We present a developmental approach that allows a humanoid robot to continuously and incrementally learn entities through interaction with a human partner in a first stage before categorizing these entities into objects, humans or robot parts and using this knowledge to improve objects models by manipulation in a second stage. This approach does not require prior knowledge about the appearance of the robot, the human or the objects. The proposed perceptual system segments the visual space into proto-objects, analyses their appearance, and associates them with physical entities. Entities are then classified based on the mutual information with proprioception and on motion statistics. The ability to discriminate between the robot's parts and a manipulated object then allows to update the object model with newly observed object views during manipulation. We evaluate our system on an iCub robot, showing the independence of the self-identification method on the robot's hands appearances by wearing different colored gloves. The interactive object learning using self-identification shows an improvement in the objects recognition accuracy with respect to learning through observation only.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130641513","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739704
Maohai Li, R. Lin, Han Wang, Hui Xu
This paper describes an efficient SLAM system only using RGBD sensors. This system utilizes the Microsoft Kinects to provide visual odometry estimation and 2D range scans. The Kinect looking up toward the ceiling can track the robot's trajectory through visual odometry method, which can provide more accurate motion estimation compared to wheel motion measurement and cannot be disturbed under wheel slippage. This is because the Kinect can provide a color image as well as depth information such that robust 3D feature points matching using invariant 2D feature descriptors such as SURF and FAST is possible. Furthermore, the straight line features on the ceiling can provide additional constraints on the inter-frame motion of the camera and the loop closure leading to a more accurate pose estimate. While the other two contiguous horizontal Kinects can provide wide range scans, which ensure more robust scan matching in the RBPF-SLAM framework. In addition, we develop a novel proposal distribution that relies on visual odometry by replacing the transition motion model to towards a SLAM solution. Subsequently, the accurate grid map is online learnt through the adaptive resample Rao-Blackwellized particle filter. Finally, our experimental results, using three Kinects carried on mobile platform of TurtleBot, clearly show the performance of our method.
{"title":"An efficient SLAM system only using RGBD sensors","authors":"Maohai Li, R. Lin, Han Wang, Hui Xu","doi":"10.1109/ROBIO.2013.6739704","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739704","url":null,"abstract":"This paper describes an efficient SLAM system only using RGBD sensors. This system utilizes the Microsoft Kinects to provide visual odometry estimation and 2D range scans. The Kinect looking up toward the ceiling can track the robot's trajectory through visual odometry method, which can provide more accurate motion estimation compared to wheel motion measurement and cannot be disturbed under wheel slippage. This is because the Kinect can provide a color image as well as depth information such that robust 3D feature points matching using invariant 2D feature descriptors such as SURF and FAST is possible. Furthermore, the straight line features on the ceiling can provide additional constraints on the inter-frame motion of the camera and the loop closure leading to a more accurate pose estimate. While the other two contiguous horizontal Kinects can provide wide range scans, which ensure more robust scan matching in the RBPF-SLAM framework. In addition, we develop a novel proposal distribution that relies on visual odometry by replacing the transition motion model to towards a SLAM solution. Subsequently, the accurate grid map is online learnt through the adaptive resample Rao-Blackwellized particle filter. Finally, our experimental results, using three Kinects carried on mobile platform of TurtleBot, clearly show the performance of our method.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123122765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
There is an urgent need to check and salvage foreign objects for the nuclear power plant. A 4-DOF underwater manipulator served for nuclear power plant can complete the examination, salvage or other actions for the nuclear power station reactor core and foreign objects in the pool. In this paper, several researches on 4-DOF underwater manipulator served for nuclear power plant are carried out as follows: building its kinematics model with screw theory method, kinematically simulating the manipulator with Matlab and Robotics Toolbox, analyzing its working space, dexterity and singular configuration, and analyzing the displacement and velocity curves of each joint. With these methods, this paper verifies the rationality of the composition parameters and also provides theoretical basis for the design of manipulator control system and the research for kinematics and trajectory planning.
{"title":"Kinematics analysis of the 4-DOF underwater manipulator served for nuclear power plant","authors":"Jianhua Zhang, Jie-Hong Yuan, Lingyu Sun, Yachao Dong, Yaqiao Zhang","doi":"10.1109/ROBIO.2013.6739865","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739865","url":null,"abstract":"There is an urgent need to check and salvage foreign objects for the nuclear power plant. A 4-DOF underwater manipulator served for nuclear power plant can complete the examination, salvage or other actions for the nuclear power station reactor core and foreign objects in the pool. In this paper, several researches on 4-DOF underwater manipulator served for nuclear power plant are carried out as follows: building its kinematics model with screw theory method, kinematically simulating the manipulator with Matlab and Robotics Toolbox, analyzing its working space, dexterity and singular configuration, and analyzing the displacement and velocity curves of each joint. With these methods, this paper verifies the rationality of the composition parameters and also provides theoretical basis for the design of manipulator control system and the research for kinematics and trajectory planning.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127319998","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739739
J. Jiao, Zhiqiang Cao, Peng Zhao, Xilong Liu, M. Tan
This paper presents a collision-free path planning approach based on Bezier curve for a mobile manipulator with the endpoints restricted by the manipulator. Based on these candidate endpoints and the initial posture of mobile manipulator, a series of feasible Bezier paths are obtained with the constraints from velocity, acceleration and environment. And then the optimal collision-free path is determined according to the related information of the path as well as obstacles. The mobile manipulator has the ability to adapt to the environment and the optimal path will be updated once the new detected obstacles block this path. The path planning approach is verified by simulations.
{"title":"Bezier curve based path planning for a mobile manipulator in unknown environments","authors":"J. Jiao, Zhiqiang Cao, Peng Zhao, Xilong Liu, M. Tan","doi":"10.1109/ROBIO.2013.6739739","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739739","url":null,"abstract":"This paper presents a collision-free path planning approach based on Bezier curve for a mobile manipulator with the endpoints restricted by the manipulator. Based on these candidate endpoints and the initial posture of mobile manipulator, a series of feasible Bezier paths are obtained with the constraints from velocity, acceleration and environment. And then the optimal collision-free path is determined according to the related information of the path as well as obstacles. The mobile manipulator has the ability to adapt to the environment and the optimal path will be updated once the new detected obstacles block this path. The path planning approach is verified by simulations.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123761253","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739708
Chen Sun, Huawei Liang, Tao Mei, Daobin Wang, Hui Zhu
As a new pattern of navigation approach with the characteristics of high robustness, autonomous characteristics and anti-interference ability, polarization navigation attracts the attention of the experts to perform further researches. A relatively stable skylight polarization pattern exists in a certain time period at a specific place, which acts as the precondition for the completion of the polarization navigation. Therefore, the measurement of skylight polarization is of great importance to the polarization navigation. Various skylight polarization pattern measurement approaches have been performed in the past. However, disadvantages exist in the current measurement instruments, including time delay and non-synchronization. In this paper, a new image-based three-camera skylight polarization pattern measurement system is presented with its real-time and synchronous advantages. The main designing idea of the system is to equip the three cameras with three linear polarizers of different polarization directions, which could perform skylight image acquisition synchronously at the same time. Experiment with this system shows that it is able to obtain the stable skylight polarization pattern with the average time for measurement cycle 1.25s, significantly improving the acquisition time. Validation of the experimental results with theoretical result is also performed, proving the authenticity of measured data.
{"title":"An image-based three-camera real-time synchronous skylight polarization pattern measurement system","authors":"Chen Sun, Huawei Liang, Tao Mei, Daobin Wang, Hui Zhu","doi":"10.1109/ROBIO.2013.6739708","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739708","url":null,"abstract":"As a new pattern of navigation approach with the characteristics of high robustness, autonomous characteristics and anti-interference ability, polarization navigation attracts the attention of the experts to perform further researches. A relatively stable skylight polarization pattern exists in a certain time period at a specific place, which acts as the precondition for the completion of the polarization navigation. Therefore, the measurement of skylight polarization is of great importance to the polarization navigation. Various skylight polarization pattern measurement approaches have been performed in the past. However, disadvantages exist in the current measurement instruments, including time delay and non-synchronization. In this paper, a new image-based three-camera skylight polarization pattern measurement system is presented with its real-time and synchronous advantages. The main designing idea of the system is to equip the three cameras with three linear polarizers of different polarization directions, which could perform skylight image acquisition synchronously at the same time. Experiment with this system shows that it is able to obtain the stable skylight polarization pattern with the average time for measurement cycle 1.25s, significantly improving the acquisition time. Validation of the experimental results with theoretical result is also performed, proving the authenticity of measured data.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125348095","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739891
Hyuna Kim, Bowon Jung, Okkyung Choi, Seungbin Moon
It is needed to evaluate how well the robot recognizes its environments while it is moving along the path to perform intended tasks. In general, the behavioral patterns of robot when it encounters sudden obstacles in a given environment may depend upon the obstacle avoidance algorithms that are programmed into the robot. In order to evaluate the performance of the environment recognition, we constructed the video image database sets which are photographed by both color image and depth image. We showed that the proposed performance evaluation method could be utilized effectively in evaluating the recognition performance of a robot.
{"title":"Performance evaluation method for environment recognition of mobile robot employing video database","authors":"Hyuna Kim, Bowon Jung, Okkyung Choi, Seungbin Moon","doi":"10.1109/ROBIO.2013.6739891","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739891","url":null,"abstract":"It is needed to evaluate how well the robot recognizes its environments while it is moving along the path to perform intended tasks. In general, the behavioral patterns of robot when it encounters sudden obstacles in a given environment may depend upon the obstacle avoidance algorithms that are programmed into the robot. In order to evaluate the performance of the environment recognition, we constructed the video image database sets which are photographed by both color image and depth image. We showed that the proposed performance evaluation method could be utilized effectively in evaluating the recognition performance of a robot.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125399642","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739479
F. Sanfilippo, L. I. Hatledal, H. G. Schaathun, K. Pettersen, Houxiang Zhang
This paper introduces a flexible and general control system architecture that allows for modelling, simulation and control of different models of maritime cranes and, more generally, robotic arms by using the same universal input device regardless of their differences in size, kinematic structure, degrees of freedom, body morphology, constraints and affordances. The manipulators that are to be controlled can be added to the system simply by defining the corresponding Denavit-Hartenberg table and their joint limits. The models can be simulated in a 3D visualisation environment, which provides the user with an intuitive visual feedback. The presented architecture represents the base for the research of a flexible mapping procedure between a universal input device and the manipulators to be controlled. As a case study, our first attempt of implementing such a mapping algorithm is also presented. This method is bio-inspired and it is based on the use of Genetic Algorithms (GA). Using this approach, the system is able to automatically learn the inverse kinematic properties of different models. Related simulations were carried out to validate the efficiency of proposed architecture and mapping method.
{"title":"A universal control architecture for maritime cranes and robots using genetic algorithms as a possible mapping approach","authors":"F. Sanfilippo, L. I. Hatledal, H. G. Schaathun, K. Pettersen, Houxiang Zhang","doi":"10.1109/ROBIO.2013.6739479","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739479","url":null,"abstract":"This paper introduces a flexible and general control system architecture that allows for modelling, simulation and control of different models of maritime cranes and, more generally, robotic arms by using the same universal input device regardless of their differences in size, kinematic structure, degrees of freedom, body morphology, constraints and affordances. The manipulators that are to be controlled can be added to the system simply by defining the corresponding Denavit-Hartenberg table and their joint limits. The models can be simulated in a 3D visualisation environment, which provides the user with an intuitive visual feedback. The presented architecture represents the base for the research of a flexible mapping procedure between a universal input device and the manipulators to be controlled. As a case study, our first attempt of implementing such a mapping algorithm is also presented. This method is bio-inspired and it is based on the use of Genetic Algorithms (GA). Using this approach, the system is able to automatically learn the inverse kinematic properties of different models. Related simulations were carried out to validate the efficiency of proposed architecture and mapping method.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125679838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739775
Mingguo Zhao, Botao Wu
The aim of this research is to find an actuated level ground walking method, which is analogous to the dynamics of a passive dynamic walker on a slope. We propose to take advantage of the coupled elastic to actuate legs. As a result, maintaining the character of passive dynamic and a simple control algorithm are achieved simultaneously. In our walking model, actuated bars are installed on each leg and connected with a linear spring at their ends. By properly swinging the bars forward and backward periodically, the spring is stretched to store potential energy at the walker's each stride. And after the heel strike the stored energy is transported to the whole system to compensate for the energy lost at the heel strike. By tuning three control parameters, namely the spring coefficient, the length and amplitude of the actuated bar, the walker exhibits stable periodical walking gait. While continuously changing these parameters, the gait of the walker also demonstrates period-doubling bifurcation and chaos. In some certain parameters, the gait can also evolves from chaos back to bifurcation. This gait evolution phenomenon has never been reported in the actuated walking robot before, it shows that the walker's dynamics is somewhat analogical to the passive dynamic walker. We also show this walker can walk over a wide range of speed, that have a reference value to build the actual robot.
{"title":"A dynamic bipedal walking method using coupled elastic actuation","authors":"Mingguo Zhao, Botao Wu","doi":"10.1109/ROBIO.2013.6739775","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739775","url":null,"abstract":"The aim of this research is to find an actuated level ground walking method, which is analogous to the dynamics of a passive dynamic walker on a slope. We propose to take advantage of the coupled elastic to actuate legs. As a result, maintaining the character of passive dynamic and a simple control algorithm are achieved simultaneously. In our walking model, actuated bars are installed on each leg and connected with a linear spring at their ends. By properly swinging the bars forward and backward periodically, the spring is stretched to store potential energy at the walker's each stride. And after the heel strike the stored energy is transported to the whole system to compensate for the energy lost at the heel strike. By tuning three control parameters, namely the spring coefficient, the length and amplitude of the actuated bar, the walker exhibits stable periodical walking gait. While continuously changing these parameters, the gait of the walker also demonstrates period-doubling bifurcation and chaos. In some certain parameters, the gait can also evolves from chaos back to bifurcation. This gait evolution phenomenon has never been reported in the actuated walking robot before, it shows that the walker's dynamics is somewhat analogical to the passive dynamic walker. We also show this walker can walk over a wide range of speed, that have a reference value to build the actual robot.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126909821","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739450
Riad Menasri, A. Nakib, H. Oulhadj, B. Daachi, P. Siarry, Gaétan Hains
In this paper, we propose a novel path planning method for a robot manipulator in the case of several obstacles. The path is generated by steps. At each step, a new position of the end effector is found in the Cartesian space. The redundancy of the manipulator, imposes that this position can be found by an infinity of configurations in the joint space. Thus, we search the best configuration which allows to avoid obstacles and singularities of the robot. This method is based on using the bilevel genetic algorithm to solve this problem. Simulation results showed the effectiveness of the proposed approach.
{"title":"Path planning for redundant manipulators using metaheuristic for bilevel optimization and maximum of manipulability","authors":"Riad Menasri, A. Nakib, H. Oulhadj, B. Daachi, P. Siarry, Gaétan Hains","doi":"10.1109/ROBIO.2013.6739450","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739450","url":null,"abstract":"In this paper, we propose a novel path planning method for a robot manipulator in the case of several obstacles. The path is generated by steps. At each step, a new position of the end effector is found in the Cartesian space. The redundancy of the manipulator, imposes that this position can be found by an infinity of configurations in the joint space. Thus, we search the best configuration which allows to avoid obstacles and singularities of the robot. This method is based on using the bilevel genetic algorithm to solve this problem. Simulation results showed the effectiveness of the proposed approach.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122702601","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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