dc.contributor.author |
Claassens, J
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dc.date.accessioned |
2010-07-12T13:32:31Z |
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dc.date.available |
2010-07-12T13:32:31Z |
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dc.date.issued |
2010 |
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dc.identifier.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 |
en |
dc.identifier.uri |
http://hdl.handle.net/10204/4058
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dc.description |
IEEE International Conference on Robotics and Automation. Anchorage, Alaska, 3-8 May 2010 |
en |
dc.description.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 |
en |
dc.language.iso |
en |
en |
dc.publisher |
IEEE |
en |
dc.subject |
Manipulator planning |
en |
dc.subject |
Imitation |
en |
dc.subject |
Trajectories |
en |
dc.title |
An RRT-Based path planner for use in trajectory imitation |
en |
dc.type |
Conference Presentation |
en |
dc.identifier.apacitation |
Claassens, J. (2010). An RRT-Based path planner for use in trajectory imitation. IEEE. http://hdl.handle.net/10204/4058 |
en_ZA |
dc.identifier.chicagocitation |
Claassens, J. "An RRT-Based path planner for use in trajectory imitation." (2010): http://hdl.handle.net/10204/4058 |
en_ZA |
dc.identifier.vancouvercitation |
Claassens J, An RRT-Based path planner for use in trajectory imitation; IEEE; 2010. http://hdl.handle.net/10204/4058 . |
en_ZA |
dc.identifier.ris |
TY - Conference Presentation
AU - Claassens, J
AB - 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
DA - 2010
DB - ResearchSpace
DP - CSIR
KW - Manipulator planning
KW - Imitation
KW - Trajectories
LK - https://researchspace.csir.co.za
PY - 2010
T1 - An RRT-Based path planner for use in trajectory imitation
TI - An RRT-Based path planner for use in trajectory imitation
UR - http://hdl.handle.net/10204/4058
ER -
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en_ZA |