Proceedings Article10.1109/IROS.2007.4399105
Capturing robot workspace structure: representing robot capabilities
Franziska Zacharias,Christoph Borst,Gerd Hirzinger +2 more
- 10 Dec 2007
- pp 3229-3236
301
TL;DR: It is shown that robot arm capabilities manifest themselves as directional structures specific to workspace regions, and a representation scheme is introduced that enables to visualize and inspect the directional structures.
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Abstract: Humans have at some point learned an abstraction of the capabilities of their arms. By just looking at the scene they can decide which places or objects they can easily reach and which are difficult to approach. Possessing a similar abstraction of a robot arm's capabilities in its workspace is important for grasp planners, path planners and task planners. In this paper, we show that robot arm capabilities manifest themselves as directional structures specific to workspace regions. We introduce a representation scheme that enables to visualize and inspect the directional structures. The directional structures are then captured in the form of a map, which we name the capability map. Using this capability map, a manipulator is able to deduce places that are easy to reach. Furthermore, a manipulator can either transport an object to a place where versatile manipulation is possible or a mobile manipulator or humanoid torso can position itself to enable optimal manipulation of an object.
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Citations
Automated construction of robotic manipulation programs
Takeo Kanade,James J. Kuffner,Rosen Diankov +2 more
- 01 Jan 2010
TL;DR: A new voting-based object pose extraction algorithm that does not rely on 2D/3D feature correspondences and thus reduces the early-commitment problem plaguing the generality of traditional vision-based pose extraction algorithms is shown.
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Catching Objects in Flight
TL;DR: This work proposes a new methodology to find a feasible catching configuration in a probabilistic manner and uses the dynamical systems approach to encode motion from several demonstrations, which enables a rapid and reactive adaptation of the arm motion in the presence of sensor uncertainty.
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Robot placement based on reachability inversion
Nikolaus Vahrenkamp,Tamim Asfour,Rüdiger Dillmann +2 more
- 06 May 2013
TL;DR: This work presents an approach of inverting such precomputed reachability representations in order to generate suitable robot base positions for grasping and generates a distribution in SE(2), the cross-space consisting of 2D position and 1D orientation, that describes potential robot base poses together with a quality index.
181
•Proceedings Article
Manipulability analysis
Nikolaus Vahrenkamp,Tamim Asfour,Giorgio Metta,Giulio Sandini,Rüdiger Dillmann +4 more
- 01 Nov 2012
TL;DR: This work presents an approach for analyzing the workspace capabilities of a manipulator in order to store a representation for efficient online processing and shows how an extended manipulability measure can be used to build a quality distribution in workspace.
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Efficiently combining task and motion planning using geometric constraints
TL;DR: A constraint-based approach is proposed to address a class of problems encountered in combined task and motion planning, which is called kinematically constrained problems, where a significant computational effort is spent on geometric backtrack search, which impairs search at the task level.
148
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