elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Contact | Deutsch
Fontsize: [-] Text [+]

Exploiting Structure in Two-armed Manipulation Tasks for Humanoid Robots

Zacharias, F and Leidner, D and Schmidt, F and Borst, C and Hirzinger, G (2010) Exploiting Structure in Two-armed Manipulation Tasks for Humanoid Robots. the IEEE International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan.

[img] PDF - Registered users only - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
1MB

Abstract

In autonomous bimanual operation of a robot, parallelized planning and execution of a task is essential. Elements of a task have different functional and spatial relationships. They may depend on each other and have to be executed in a specific order or they may be independent and their order can be determined freely. Consequently, individual actions can be planned and executed in parallel or not. In a proof of concept, this paper shows that the structure of a task and its mapping onto subordinate planners can significantly influence planning speed and task execution. Independent tasks are planned using two parallel path planners. Dependent tasks are planned using one path planner for both arms. Using a simple, yet expandable experimentation scenario, the resulting recommendations for parameterizing path planners are verified on a humanoid robot. For execution on the real robot a violation of the rigid body model used in path planners had to be addressed.

Document Type:Conference or Workshop Item (Paper)
Title:Exploiting Structure in Two-armed Manipulation Tasks for Humanoid Robots
Authors:
AuthorsInstitution or Email of Authors
Zacharias, Ffranziska.zacharias@dlr.de
Leidner, DUNSPECIFIED
Schmidt, FUNSPECIFIED
Borst, CUNSPECIFIED
Hirzinger, GUNSPECIFIED
Date:October 2010
Status:Published
Keywords:path planning, workspace, humanoid robots
Event Title:the IEEE International Conference on Intelligent Robots and Systems (IROS)
Event Location:Taipei, Taiwan
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
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:06 Dec 2010 11:18
Last Modified:12 Dec 2013 21:07

Repository Staff Only: item control page

Browse
Search
Help & Contact
Informationen
electronic library is running on EPrints 3.3.12
Copyright © 2008-2012 German Aerospace Center (DLR). All rights reserved.