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Continuum manipulators, featuring “continuous backbone structures”, are promising for deft manipulation of a wide range of objects under uncertain conditions in less-structured and cluttered environments. A multi-section trunk/tentacle robot is such a continuum manipulator. With a continuum robot, manipulation means a continuous whole-arm motion, often without a clear distinction between transport...
On-line, efficient perception based on sensing is essential for an autonomous robot to operate in an unknown and unpredictable environment. An efficient on-line algorithm is introduced to determine whether a robot at a future time t and a configuration q will be guaranteed collision-free, directly from real-world sensor data of the robot's environment at the current time τ, using stereo vision sensor...
This paper addresses continuous collision-checking of a high-DOF robot trajectory in a completely unknown and unpredictable environment (i.e., obstacles are unknown and their motions are also unknown). In, the authors introduced how to discover, if a robot at configuration q at a future time t is guaranteed collision-free or not using the novel concept of the dynamic envelope and atomic obstacles...
Navigation of a car-like robot in environments with unknowns requires effective on-line planning of nonholonomic trajectories. We propose a set of basic maneuver patterns based on Bezier curves that allow either forward or backward motion as building blocks to create nonholonomic trajectories quickly, given a sequence of knot positions/points (e.g., from some GPS navigator). These maneuver patterns...
This paper introduces a novel and general real-time adaptive motion planning (RAMP) approach suitable for planning trajectories of high-DOF or redundant robots, such as mobile manipulators, in dynamic environments with moving obstacles of unknown trajectories. The RAMP approach enables simultaneous path and trajectory planning and simultaneous planning and execution of motion in real time. It facilitates...
This paper considers the problem of planning closed-chain motion for a pair of mobile manipulators to transport a common payload in a dynamically unknown environment (i.e., an environment with moving obstacles of unknown motion). We present a novel algorithm to plan the actions of the two robots in the team, one leader and one helper, in real-time to accomplish the task while avoiding other obstacles...
This paper considers the problem of planning motions for a team of mobile manipulators working in the same environment with a common task objective. It presents a distributed, real-time algorithm to plan motion trajectory for each team member that allows dynamic and spontaneous division of work among team members to meet the common task objective. A mobile manipulator has to perform its share of the...
Contact detection based on computing minimum distance is a fundamental issue important to many applications. A largely unsolved problem is how to detect multiple contacts that are formed simultaneously between non-convex and non-polyhedral general objects both accurately and in real-time. This paper presents an effective solution to the problem. Our approach first locates the pairs of closest components...
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