Graphics enhanced version of this site

An Integrated Approach to Inverse Kinematics and Path Planning for Redundant Manipulators
D. Bertram, J. Kuffner, R. Dillmann, and T. Asfour
Proceedings of the IEEE International Conference on Robotics and Automation, IEEE, May, 2006, pp. 1874-1879.

Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [477 KB]

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

We propose a novel solution to the problem of inverse kinematics for redundant robotic manipulators for the purposes of goal selection for path planning. We unify the calculation of the goal configuration with searching for a path in order to avoid the uncertainties inherent to selecting goal configurations which may be unreachable because they currently lie in components of the free configuration space disconnected from the initial configuration. We adopt workspace heuristic functions that implicitly define goal regions of the configuration space and guide the extension of Rapidly-exploring Random Trees (RRTs), which are used to search for these regions. The algorithm has successfully been used to efficiently plan reaching and grasping motions for a humanoid robot equipped with redundant manipulator arms.

Associated center: CFR

Number of pages: 6

D. Bertram, J. Kuffner, R. Dillmann, and T. Asfour, "An Integrated Approach to Inverse Kinematics and Path Planning for Redundant Manipulators," Proceedings of the IEEE International Conference on Robotics and Automation, IEEE, May, 2006, pp. 1874-1879.

@inproceedings{Bertram_2006_5436,
   author = "Dominik Bertram and James Kuffner and Ruediger Dillmann and Tamim Asfour",
   title = "An Integrated Approach to Inverse Kinematics and Path Planning for Redundant Manipulators",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation",
   month = "May",
   year = "2006",
   pages = "1874-1879",
   publisher = "IEEE"
}