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Using a Model of the Reachable Workspace to Position Mobile Manipulators for 3-d Trajectories

Zacharias, Franziska and Sepp, Wolfgang and Borst, Christoph and Hirzinger, Gerd (2009) Using a Model of the Reachable Workspace to Position Mobile Manipulators for 3-d Trajectories. International Conference on Humanoid Robots (Humanoids), Paris, France.

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Abstract

Humanoid robots are envisioned in general household tasks. To be able to fulfill a given task the robot needs to be equipped with knowledge concerning the manipulation and interaction in the environment and with knowledge about its own capabilities. When performing actions, e.g. opening doors or imitating human reach to grasp movements special 3- d trajectories are followed with the robot’s end-effector. These trajectories can not be executed in every part of the robot’s arm workspace. Therefore a task planner has to determine if and how additional degrees of freedom such as the robot’s upper body or the robot’s base can be moved in order to execute the task-specific trajectory. An approach is presented that computes placements for a mobile manipulator online given a task-related 3-d trajectory. A discrete representation of the robot arm’s reachable workspace is used. Task-specific trajectories are interpreted as patterns and searched in the reachability model using multi-dimensional correlation. The relevance of the presented approach is demonstrated in simulated positioning tasks.

Document Type:Conference or Workshop Item (Paper)
Title:Using a Model of the Reachable Workspace to Position Mobile Manipulators for 3-d Trajectories
Authors:
AuthorsInstitution or Email of Authors
Zacharias, FranziskaFranziska.zacharias@dlr.de
Sepp, Wolfgangwolfgang.sepp@dlr.de
Borst, ChristophChristoph.borst@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:December 2009
Status:Published
Keywords:reachable workspace, mobile manipulation, robot positioning
Event Title:International Conference on Humanoid Robots (Humanoids)
Event Location:Paris, France
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:other
HGF - Program Themes:W - no assignement
DLR - Research area:no assignement
DLR - Program:W - no assignement
DLR - Research theme (Project):W - Leistungszentrum Robotik - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Franziska Zacharias
Deposited On:18 Jan 2010 09:24
Last Modified:18 Jan 2010 09:24

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