DSpace
 

Researchspace >
General science, engineering & technology >
General science, engineering & technology >
General science, engineering & technology >

Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/4058

Title: An RRT-Based path planner for use in trajectory imitation
Authors: Claassens, J
Keywords: Manipulator planning
Imitation
Trajectories
Issue Date: 2010
Publisher: IEEE
Citation: Claassens, J. An RRT-Based path planner for use in trajectory imitation. 2010. IEEE International Conference on Robotics and Automation. Anchorage, Alaska, 3-8 May 2010, pp 6
Abstract: The authors propose a more robust robot programming; by demonstration system planner that produces a reproduction; path which satisfies statistical constraints derived from demonstration; trajectories and avoids obstacles given the freedom; in those constraints. To determine the statistical constraints a; Gaussian Mixture Model is fitted to demonstration trajectories.; These demonstrations are recorded through kinesthetic; teaching of a redundant manipulator. The GMM models the; likelihood of configurations given time. The planner is based; on Rapidly-exploring Random Tree search with the search tree; kept within the statistical model. Collision avoidance is included; by not allowing the tree to grow into obstacles. The system is; designed to act as a backup for if a faster reactive planner falls; within a local minima.; To illustrate its performance an experiment is conducted; where the system is taught to open a Pelican case using a; Barrett Whole Arm Manipulator (WAM). During reproduction; an obstacle is placed nearby the case to partially obstruct; the manipulator. The planner successfully avoided this obstacle; without drifting from the trends in the demonstrations
Description: IEEE International Conference on Robotics and Automation. Anchorage, Alaska, 3-8 May 2010
URI: http://hdl.handle.net/10204/4058
Appears in Collections:Mobile intelligent autonomous systems
General science, engineering & technology

Files in This Item:

File Description SizeFormat
Claassens_2010.pdf1.82 MBAdobe PDFView/Open
View Statistics

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

 

Valid XHTML 1.0! DSpace Software Copyright © 2002-2010  Duraspace - Feedback