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Foundations of Robotics
Seminar, November 8, 2006
Time
and Place | Seminar Abstract | Speaker
Biography | Presentation Slides | Speaker
Appointments
Task Constrained Motion
Planning in Robot Joint Space
Mike Stilman
Smith Hall 100
Refreshments 4:15 pm
Talk 4:30 pm
In this talk I will explore randomized joint
space path planning for articulated robots that are subject to task space
constraints. Constrained joint space planning is important for many real world
problems involving redundant manipulators. On the one hand, tasks are
designated in work space coordinates: rotating doors about fixed axes, sliding
drawers along fixed trajectories or holding objects level during transport. On
the other, joint space planning gives alternative paths that use redundant degrees
of freedom to avoid obstacles or satisfy additional goals while performing a
task. I will present a representation of constrained motion for joint space
planners and introduce two simple and efficient methods for constrained
sampling of joint configuraitons: Tangent Space
Sampling (TS) and First-Order Retraction (FR). In our ongoing
simulations, these methods have proven to be faster and significantly more
invariant to problem/algorithm parameters than existing techniques.
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Speaker Appointments |
For appointments, please contact Mike Stilman
(robot@cmu.edu)
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.