Extensibility in Local Sensor Based Planning For Hyper Redundant Manipulators (Robot Snakes)

Howie Choset and J. Burdick
Proceedings of the 1994 Conference on Intelligent Robots for Field, Factory, Service, and Space (CIRFFSS '94), 1994.


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Abstract
This paper extends a local sensor based planning method for hyper redundant robot mechanisms. In a previous paper sensor feedback control methods are considered. A highly localized sensor feedback method for hyper redundant manipulators is termed partial shape modification (PSM). A PSM utilizes a mechanism's hyper redundancy to enable both local obstacle avoidance and end effector placement in real time. This paper considers the situation in which the limits of a PSM is violated. In other words what does the robot do when it can not only locally adapt to the environment. Local sensor based planning has been implemented on a thirty degree of freedom hyper redundant manipulator which has eleven ultrasonic distance measurement sensors and twenty infrared proximity sensors. The robot is controlled by a real time control computer which communicates with sensors through an innovative sensor bus architecture. Experimental results obtained using this test bed show the efficacy of the proposed method.

Notes
Associated Lab(s) / Group(s): Biorobotics
Number of pages: 10

Text Reference
Howie Choset and J. Burdick, "Extensibility in Local Sensor Based Planning For Hyper Redundant Manipulators (Robot Snakes)," Proceedings of the 1994 Conference on Intelligent Robots for Field, Factory, Service, and Space (CIRFFSS '94), 1994.

BibTeX Reference
@inproceedings{Choset_1994_1418,
   author = "Howie Choset and J. Burdick",
   title = "Extensibility in Local Sensor Based Planning For Hyper Redundant Manipulators (Robot Snakes)",
   booktitle = "Proceedings of the 1994 Conference on Intelligent Robots for Field, Factory, Service, and Space (CIRFFSS '94)",
   year = "1994",
}