Recursive Algorithm for Motion Primitive Estimation

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Title: Recursive Algorithm for Motion Primitive Estimation
Author: Enes, Aaron R. ; Book, Wayne John
Abstract: The need for knowing future manipulator motion arises in several robotics applications, including notification or avoidance of imminent collisions and real-time optimization of velocity commands. This paper presents a real-time, low overhead algorithm for identification of future manipulator motions, based on measurements of prior motions and the instantaneous sensed actuator velocity commanded by an operator. Experimental results with a human-controlled, two degree of-freedom manipulator demonstrate the ability to quickly learn and accurately estimate future manipulator motions.
Description: ©2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Presented at the 2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai, China.
Type: Proceedings
Citation: Aaron R. Enes and Wayne J. Book, "Recursive Algorithm for Motion Primitive Estimation," 2011 IEEE international Conference on Robotics and Automation, May 9-13, 2011, Shangai, China.
Date: 2011-05
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Lincoln Laboratory
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Collision avoidance
Real time optimization
Future manipulator motions

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