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This work proposes a novel RRT-based motion planning method for robotic systems equipped with redundant anthropomorphic arms. A characteristic Redundancy space (ReRRT) for this type of robots is proposed for sampling at the position level to deal with the problem of Task-Constrained Motion Planning (TCMP) with other multiple constraints in realistic robotic manipulation applications. Based on the...
When abundant humanoid robots are springing up in many application fields, the anthropomorphic arm, which is the most important part of the humanoid robot, is facing numerous complicated manipulation tasks. In order to address two diversity issues of anthropomorphic arm platforms and manipulation tasks, a unified "language", a novel task-motion planning method, for different anthropomorphic...
Motion planning for an anthropomorphic arm is discussed in this paper. A three-level motion planning framework “joint space—movement primitive space—task space” is established by introducing movement primitives as the bridge connecting the task space and joint space. The proposed method cannot only control the motion process of an anthropomorphic arm, but also simplify the motion planning of complicated...
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