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Incremental, Sensor-Based Motion Generation for Mobile Manipulators in Unknown, Dynamic Environments

Lehner, Peter and Sieverling, Arne and Brock, Oliver (2015) Incremental, Sensor-Based Motion Generation for Mobile Manipulators in Unknown, Dynamic Environments. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 4761-4767. IEEE. IEEE International Conference on Robotics and Automation, 26-30 May 2015, Seattle, USA. DOI: 10.1109/ICRA.2015.7139861

Full text not available from this repository.

Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7139861

Abstract

We present an incremental method for motion generation in environments with unpredictably moving and initially unknown obstacles. The key to the method is its incremental nature: it locally augments and adapts global motion plans in response to changes in the environment, even if they significantly change the connectivity of the world. The restriction to local changes to a global plan results from the fact that in mobile manipulation, robots can ultimately only rely on their on-board sensors to perceive changes in the world. The proposed method addresses three sub-problems of motion generation with three algorithmic components. The first component reactively adapts plans in response to small, continuous changes. The second augments the plan locally in response to connectivity changes. And the third extracts a global, goal-directed motion from the representation maintained by the first two components. In an experimental evaluation of this method, we show a real-world mobile manipulator executing a whole-body motion task in an initially unknown environment, while incrementally maintaining a plan using only on-board sensors.

Item URL in elib:https://elib.dlr.de/97102/
Document Type:Conference or Workshop Item (Speech)
Title:Incremental, Sensor-Based Motion Generation for Mobile Manipulators in Unknown, Dynamic Environments
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lehner, Peterpeter.lehner (at) dlr.deUNSPECIFIED
Sieverling, ArneTU Berlin, Robotics and Biology LaboratoryUNSPECIFIED
Brock, OliverTU Berlin, Robotics and Biology LaboratoryUNSPECIFIED
Date:May 2015
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
DOI :10.1109/ICRA.2015.7139861
Page Range:pp. 4761-4767
Publisher:IEEE
Series Name:Proceedings of IEEE International Conference on Robotics and Automation (ICRA)
Status:Published
Keywords:Manipulators Mobile communication Planning Robot sensing systems Trajectory
Event Title:IEEE International Conference on Robotics and Automation
Event Location:Seattle, USA
Event Type:international Conference
Event Dates:26-30 May 2015
Organizer:IEE/RAS
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Lehner, Peter
Deposited On:09 Jul 2015 10:20
Last Modified:09 Feb 2017 19:21

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