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k-PMP: enhancing physics-based motion planners with knowledge-based reasoning

Autor
Ud Din, M.; Rosell, J.; Akbari, A.
Tipus d'activitat
Article en revista
Revista
Journal of intelligent and robotic systems
Data de publicació
2017-09-22
Pàgina inicial
1
Pàgina final
19
DOI
https://doi.org/10.1007/s10846-017-0698-z Obrir en finestra nova
Projecte finançador
Prensión y manipulación diestra, móvil y cooperativa
Robots autónomos diestros como co-trabajadores con operadores humanos
Robots manipuladores móviles como co-operarios: autonomía e interacción en la colaboración humano-robot
Repositori
http://hdl.handle.net/2117/108313 Obrir en finestra nova
URL
https://link-springer-com.recursos.biblioteca.upc.edu/ Obrir en finestra nova
Resum
Physics-based motion planning is a challenging task, since it requires the computation of the robot motions while allowing possible interactions with (some of) the obstacles in the environment. Kinodynamic motion planners equipped with a dynamic engine acting as state propagator are usually used for that purpose. The difficulties arise in the setting of the adequate forces for the interactions and because these interactions may change the pose of the manipulatable obstacles, thus either facilita...
Citació
Ud Din, M., Rosell, J., Akbari, A. ¿-PMP: Enhancing Physics-based Motion Planners with Knowledge-Based Reasoning. "Journal of intelligent and robotic systems", 22 Setembre 2017, p. 1-19.
Paraules clau
Physics-based motion planning Kinodynamic motion planning Knowledge-based reasoning
Grup de recerca
SIR - Service and Industrial Robotics

Participants