Experimental Results for Sensor Based Planning for Hyper-redundant Manipulators

N. Takanashi, Howie Choset, and J. Burdick
Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), October, 1993.


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Abstract
This paper presents a dual resolution local sensor based planning method for hyper redundant robot mechanisms. Two classes of sensor feedback control methods working at different sampling rates and different spatial resolutions are considered - full shape modification (FSM) and partial shape modification (PSM). FSM and PSM cooperate to utilize a mechanism's hyper redundancy to enable both local obstacle avoidance and end effector placement in real time. These methods have been implemented on a thirty degree of freedom hyper redundant manipulator which has eleven ultrasonic distance measurement sensors and twenty infrared proximity sensors. The implementation of these algorithms in a dual CPU real time control computer, an innovative sensor bus architecture, and a novel graphical control interface are described. Experimental results obtained using this test bed show the efficacy of the proposed method.

Notes
Associated Lab(s) / Group(s): Biorobotics
Number of pages: 21

Text Reference
N. Takanashi, Howie Choset, and J. Burdick, "Experimental Results for Sensor Based Planning for Hyper-redundant Manipulators," Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), October, 1993.

BibTeX Reference
@inproceedings{Choset_1993_1419,
   author = "N. Takanashi and Howie Choset and J. Burdick",
   title = "Experimental Results for Sensor Based Planning for Hyper-redundant Manipulators",
   booktitle = "Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)",
   month = "October",
   year = "1993",
}