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Task-consistent obstacle
avoidance and motion behavior for mobile
manipulation
Brock,
O. Khatib,
O. Viji,
S.
Dept. of
Comput. Sci., Stanford Univ., CA;
This paper appears in: Robotics and
Automation, 2002. Proceedings. ICRA '02. IEEE International
Conference on
On
page(s): 388- 393 vol.1
2002
ISSN:
Number of Pages: 4
vol.lxxiv+4353
INSPEC
Accession Number: 7374869
Abstract:
Applications in mobile manipulation
require sophisticated motion execution skills to address
issues like redundancy resolution, reactive obstacle
avoidance, and transitioning between different motion
behaviors. The elastic strip framework is an approach to
reactive motion generation providing an integrated solution to
these problems. Novel techniques within the elastic strip
framework are presented, allowing task-consistent obstacle
avoidance and task-consistent motion behavior. General
transition criteria and methods are presented, permitting the
suspension and resumption of task execution to ensure other
desired motion behavior, such as obstacle avoidance. Task
execution has to be suspended when kinematic constraints or
changes in the environment render task-consistent motion
behavior infeasible. Task execution is resumed as soon as it
is consistent with other desired motion behaviors.
Index Terms:
collision
avoidance manipulator
kinematics motion
control path
planning
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