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dc.contributor.authorKunz, Tobiasen_US
dc.contributor.authorReiser, Ulrichen_US
dc.contributor.authorStilman, Mikeen_US
dc.contributor.authorVerl, Alexanderen_US
dc.date.accessioned2010-12-15T15:16:24Z
dc.date.available2010-12-15T15:16:24Z
dc.date.issued2010-10
dc.identifier.citationT. Kunz, U. Reiser, M. Stilman, A. Verl. Real-Time Path Planning for a Robot Arm in Changing Environments. Int. Conf. on Intelligent Robots and Systems (IROS'10), 2010.en_US
dc.identifier.urihttp://hdl.handle.net/1853/36424
dc.description.abstractWe present a practical strategy for real-time path planning for articulated robot arms in changing environments by integrating PRM for Changing Environments with 3D sensor data. Our implementation on Care-O-Bot 3 identifies bottlenecks in the algorithm and introduces new methods that solve the overall task of detecting obstacles and planning a path around them in under 100 ms. A fast planner is necessary to enable the robot to react to quickly changing human environments. We have tested our implementation in real-world experiments where a human subject enters the manipulation area, is detected and safely avoided by the robot. This capability is critical for future applications in automation and service robotics where humans will work closely with robots to jointly perform tasks.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectRobotsen_US
dc.subjectObstacle avoidanceen_US
dc.subjectAlgorithmsen_US
dc.titleReal-Time Path Planning for a Robot Arm in Changing Environmentsen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameFraunhofer-Institut für Produktionstechnik und Automatisierungen_US


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