Zobrazeno 1 - 8
of 8
pro vyhledávání: '"Puttichai Lertkultanon"'
Autor:
Puttichai Lertkultanon
Solving manipulation tasks requires planning not only robot motions but also various interaction such as grasps (robot-object) and placements (object-environment). This indispensable interaction imparts extra complexity to the problems such that solv
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e7eaf135994e8740bf30d083f0062be6
https://doi.org/10.32657/10356/73018
https://doi.org/10.32657/10356/73018
Publikováno v:
IEEE Robotics and Automation Letters. 2:1832-1839
Closed kinematic chains are created whenever multiple robot arms concurrently manipulate a single object. The closed-chain constraint, when coupled with robot joint limits, dramatically changes the connectivity of the configuration space. We propose
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::3a1721ae511d45558a1ce93596bdaaaa
https://doi.org/10.1109/lra.2017.2708134
https://doi.org/10.1109/lra.2017.2708134
Publikováno v:
IEEE Robotics and Automation Letters. 1:198-205
In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex structure of
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d7752ffb60238cd44d196c42b4d1b095
https://doi.org/10.1109/lra.2015.2513731
https://doi.org/10.1109/lra.2015.2513731
Publikováno v:
ICRA
This paper addresses the problem of multi-robot path coordination, considering specific features that arise in applications such as automatic aircraft taxiing or driver-less cars coordination. The first feature is departure events: when robots arrive
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e39943fb4044d1a39a705be69be6e31d
https://hdl.handle.net/10356/143609
https://hdl.handle.net/10356/143609
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we propose a
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c5d6c6e50b1009711552a76f14cbc2fd
Publikováno v:
The International Journal of Robotics Research
The International Journal of Robotics Research, SAGE Publications, 2017, 36 (1), pp.44-67. ⟨10.1177/0278364916675419⟩
The International Journal of Robotics Research, SAGE Publications, 2017, 36 (1), pp.44-67. ⟨10.1177/0278364916675419⟩
Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate, simpler, steps: first, find a path in the configuration s
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::23991e7d0979d966b183728932c90732
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01692582
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01692582
Time-optimal trajectories with bounded velocities and accelerations are known to be parabolic, i.e. piecewise constant in acceleration. An important characteristic of this class of trajectories is the distribution of the switch points – the time in
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ba1ce5eb6434e3b1d825f1a7a5bf23c2
http://hdl.handle.net/10220/41881
http://hdl.handle.net/10220/41881
Publikováno v:
ICARCV
When possible, non-prehensile transportation (i.e. transporting objects without grasping them) can be faster and more efficient than prehensile transportation. However, the need to explicitly consider reaction and friction forces yields kino-dynamic
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::a54345644a6ed95ed6f3e6e02e2008a2
https://doi.org/10.1109/icarcv.2014.7064519
https://doi.org/10.1109/icarcv.2014.7064519