A Simple Motion Planning Algorithm for General Robot Manipulators

A Simple Motion Planning Algorithm for General Robot Manipulators

This paper presents a simple and efficient algorithm, using configuration space, to plan collision-free motions for general manipulators. We describe an implementation of the algorithm for manipulators made up of revolute joints. The configuration-space obstacles for an n degree-of-freedom ma...

书目详细资料
主要作者:	Lozano-Perez, Tomas
语言:	en_US
出版:	2004
在线阅读:	http://hdl.handle.net/1721.1/6448

相似书籍

Integrated Robot Task and Motion Planning in the Now
由: Kaelbling, Leslie Pack, et al.
出版: (2012)

Integrated robot task and motion planning in belief space
由: Kaelbling, Leslie Pack, et al.
出版: (2012)

Automatic Planning of Manipulator Transfer Movements
由: Lozano-Perez, Tomas
出版: (2004)

Motion Planning for Mobile Manipulators Based on an Improved A* Algorithm and Manipulability
由: Cao Yi, et al.
出版: (2024-11-01)

Learning compositional models of robot skills for task and motion planning
由: Wang, Zi, et al.
出版: (2022)

Manipulator dynamic modeling and motion planning for live working robot
由: JIANG Wei, et al.
出版: (2016-06-01)

Planning for Multi-stage Forceful Manipulation
由: Holladay, Rachel, et al.
出版: (2022)

Discovering State and Action Abstractions for Generalized Task and Motion Planning
由: Curtis, Aidan, et al.
出版: (2023)

Backward-forward search for manipulation planning
由: Garrett, Caelan Reed, et al.
出版: (2017)

Computational complexity of motion planning of a robot through simple gadgets
由: Demaine, Erik
出版: (2021)

Generalizable Robot Manipulation through Task and Motion Planning and Interactive Perception
由: Fang, Xiaolin
出版: (2022)

Safe and Efficient Motion Planning in Robotic Manipulation through Formal Methods
由: Yu, Mingxin
出版: (2024)

Contributions to robotic manipulation under uncertainty : calibration, estimation, motion planning
由: Nguyen, Huy
出版: (2019)

A constraint-based method for solving sequential manipulation planning problems
由: Lozano-Perez, Tomas, et al.
出版: (2016)

Hierarchical Task and Motion Planning in the Now
由: Kaelbling, Leslie Pack, et al.
出版: (2010)

Motion planning of robotic manipulation: developing a framework for efficient path planning and obstacle avoidance
由: Tan, Yan Wen
出版: (2024)

Integrated task and motion planning in belief space
由: Kaelbling, Leslie P., et al.
出版: (2014)

Automatic Synthesis of Fine-Motion Strategies for Robots
由: Lozano-Perez, Tomas, et al.
出版: (2004)

Hierarchical planning for multi-contact non-prehensile manipulation
由: Lee, Gilwoo, et al.
出版: (2017)

Exact geometry algorithms for robotic motion planning
由: Deshpande, Ashwin.
出版: (2019)

Design Of Robot Motion Planning Algorithm For Wall Following Robot
由: Ali Hassan, Muhamad Khairul
出版: (2006)

Unifying perception, estimation and action for mobile manipulation via belief space planning
由: Lozano-Perez, Tomas, et al.
出版: (2014)

Force-and-Motion Constrained Planning for Tool Use
由: Holladay, Rachel, et al.
出版: (2021)

Force-and-Motion Constrained Planning for Tool Use
由: Holladay, Rachel, et al.
出版: (2021)

Supervisory control of robot manipulator for gross motions
由: Park, Jong Hyeon
出版: (2016)

Task-Motion Planning System for Socially Viable Service Robots Based on Object Manipulation
由: Jeongmin Jeon, et al.
出版: (2024-07-01)

FFRob: An Efficient Heuristic for Task and Motion Planning
由: Garrett, Caelan Reed, et al.
出版: (2017)

Object placement as inverse motion planning
由: Holladay, Anne E., et al.
出版: (2014)

FFRob: Leveraging symbolic planning for efficient task and motion planning
由: Garrett, Caelan Reed, et al.
出版: (2022)

FFRob: Leveraging symbolic planning for efficient task and motion planning
由: Garrett, Caelan Reed, et al.
出版: (2021)

PSUDOC - A Simple Diagnostic Program
由: Lozano-Perez, Tomas
出版: (2008)

Sample-Based Methods for Factored Task and Motion Planning
由: Garrett, Caelan, et al.
出版: (2021)

Development of the robotic motion controller for a wheeled manipulator
由: Thanh Phuong Nguyen, et al.
出版: (2025-03-01)

UaMPNet: Uncertainty-Aware Motion Planning Network for Manipulator Motion Planning
由: Eunhoo Lee, et al.
出版: (2024-01-01)

Benchmark on robotic motion planning algorithms in a drilling task
由: Lim, Joyce Xin Yan
出版: (2018)

Obstacle Avoidance Motion Planning of Manipulators in ROS Based on the Improved RRT Algorithm
由: Cao Yi, et al.
出版: (2022-12-01)

Robot Motion Planning Based on an Adaptive Slime Mold Algorithm and Motion Constraints
由: Rong Chen, et al.
出版: (2024-07-01)

Robot motion planning /
由: 428239 Latombe, Jean-Claude
出版: (c199)

Reinforcement learning based algorithm design for robot manipulator task planning
由: Gui, Shun
出版: (2021)

Learning When to Quit: Meta-Reasoning for Motion Planning
由: Sung, Yoonchang, et al.
出版: (2022)