DC Field | Value | Language |
---|---|---|
dc.contributor.author | Choi, Jaesik | ko |
dc.contributor.author | Amir, Eyal | ko |
dc.date.accessioned | 2021-04-20T00:10:17Z | - |
dc.date.available | 2021-04-20T00:10:17Z | - |
dc.date.created | 2021-03-28 | - |
dc.date.issued | 2007-10-30 | - |
dc.identifier.citation | 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, pp.27 - 32 | - |
dc.identifier.uri | http://hdl.handle.net/10203/282444 | - |
dc.description.abstract | Motion planning for robotic arms is important for real, physical world applications. The planning for arms with high-degree-of-freedom (DOFJ is hard because its search space is large (exponential in the number of joints), and the links may collide with static obstacles or other joints (self-collision). In this paper we present a motion planning algorithm that finds plans of motion from one arm configuration to a goal arm configuration in 2D space assuming no self-collision. Our algorithm is unique in two ways: (a) it utilizes the topology of the arm and obstacles to factor the search space and reduce the complexity of the planning problem using dynamic programming; and (b) it takes only polynomial time in the number of joints under some conditions. We provide a sufficient condition for polytime motion planning for 2D-space arms: if there is a path between two homotopic configurations, an embedded local planner finds a path within a polynomial time. The experimental results show that the proposed algorithm improves the performance of path planning for 2D arms. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society (RAS) | - |
dc.title | Factor-guided motion planning for a robot arm | - |
dc.type | Conference | - |
dc.identifier.scopusid | 2-s2.0-51349096905 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 27 | - |
dc.citation.endingpage | 32 | - |
dc.citation.publicationname | 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 | - |
dc.identifier.conferencecountry | US | - |
dc.identifier.conferencelocation | San Diego, CA | - |
dc.identifier.doi | 10.1109/IROS.2007.4399555 | - |
dc.contributor.localauthor | Choi, Jaesik | - |
dc.contributor.nonIdAuthor | Amir, Eyal | - |
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