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- Publisher Website: 10.1007/s10514-017-9667-4
- Scopus: eid_2-s2.0-85028752472
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Article: Optimized vision-based robot motion planning from multiple demonstrations
Title | Optimized vision-based robot motion planning from multiple demonstrations |
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Authors | |
Keywords | Vision-based motion planning Path planning FOV limits Whole-arm collision avoidance |
Issue Date | 2018 |
Publisher | Springer New York LLC. The Journal's web site is located at http://springerlink.metapress.com/openurl.asp?genre=journal&issn=0929-5593 |
Citation | Autonomous Robots, 2018, v. 42 n. 6, p. 1117-1132 How to Cite? |
Abstract | This paper combines workspace models with optimization techniques to simultaneously address whole-arm collision avoidance, joint limits and camera field of view (FOV) limits for vision-based motion planning of a robot manipulator. A small number of user demonstrations are used to generate a feasible domain over which the whole robot arm can servo without violating joint limits or colliding with obstacles. Our algorithm utilizes these demonstrations to generate new feasible trajectories that keep the target in the camera’s FOV and achieve the desired view of the target (e.g., a pre-grasping location) in new, undemonstrated locations. To fulfill these requirements, a set of control points are selected within the feasible domain. Camera trajectories that traverse these control points are modeled and optimized using either quintic splines (for fast computation) or general polynomials (for better constraint satisfaction). Experiments with a seven degree of freedom articulated arm validate the proposed scheme. |
Persistent Identifier | http://hdl.handle.net/10722/272177 |
ISSN | 2023 Impact Factor: 3.7 2023 SCImago Journal Rankings: 1.410 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Shen, T | - |
dc.contributor.author | Radmard, S | - |
dc.contributor.author | Chan, A | - |
dc.contributor.author | Croft, EA | - |
dc.contributor.author | Chesi, G | - |
dc.date.accessioned | 2019-07-20T10:37:11Z | - |
dc.date.available | 2019-07-20T10:37:11Z | - |
dc.date.issued | 2018 | - |
dc.identifier.citation | Autonomous Robots, 2018, v. 42 n. 6, p. 1117-1132 | - |
dc.identifier.issn | 0929-5593 | - |
dc.identifier.uri | http://hdl.handle.net/10722/272177 | - |
dc.description.abstract | This paper combines workspace models with optimization techniques to simultaneously address whole-arm collision avoidance, joint limits and camera field of view (FOV) limits for vision-based motion planning of a robot manipulator. A small number of user demonstrations are used to generate a feasible domain over which the whole robot arm can servo without violating joint limits or colliding with obstacles. Our algorithm utilizes these demonstrations to generate new feasible trajectories that keep the target in the camera’s FOV and achieve the desired view of the target (e.g., a pre-grasping location) in new, undemonstrated locations. To fulfill these requirements, a set of control points are selected within the feasible domain. Camera trajectories that traverse these control points are modeled and optimized using either quintic splines (for fast computation) or general polynomials (for better constraint satisfaction). Experiments with a seven degree of freedom articulated arm validate the proposed scheme. | - |
dc.language | eng | - |
dc.publisher | Springer New York LLC. The Journal's web site is located at http://springerlink.metapress.com/openurl.asp?genre=journal&issn=0929-5593 | - |
dc.relation.ispartof | Autonomous Robots | - |
dc.rights | This is a post-peer-review, pre-copyedit version of an article published in [insert journal title]. The final authenticated version is available online at: http://dx.doi.org/[insert DOI] | - |
dc.subject | Vision-based motion planning | - |
dc.subject | Path planning | - |
dc.subject | FOV limits | - |
dc.subject | Whole-arm collision avoidance | - |
dc.title | Optimized vision-based robot motion planning from multiple demonstrations | - |
dc.type | Article | - |
dc.identifier.email | Chesi, G: chesi@eee.hku.hk | - |
dc.identifier.authority | Chesi, G=rp00100 | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1007/s10514-017-9667-4 | - |
dc.identifier.scopus | eid_2-s2.0-85028752472 | - |
dc.identifier.hkuros | 299103 | - |
dc.identifier.volume | 42 | - |
dc.identifier.issue | 6 | - |
dc.identifier.spage | 1117 | - |
dc.identifier.epage | 1132 | - |
dc.identifier.isi | WOS:000432977900001 | - |
dc.publisher.place | United States | - |
dc.identifier.issnl | 0929-5593 | - |