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Task based approach on trajectory planning with redundant manipulators, and its application to wheelchair propulsion

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7 Author(s)
Miura, H. ; Dept. of Mech. Eng., Nagoya Univ., Japan ; Obinata, G. ; Nakayama, A. ; Hase, K.
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We introduce an optimization method for the trajectory planning of redundant manipulators which achieve a given task with high efficiency, and apply the method to a wheelchair propulsion problem. A GA is used to optimize the redundant variables of a manipulator. Additionally, the procedure of the method does not use any forward dynamics computation. The effectiveness of the proposed algorithm has been shown by applying the method to wheelchair propulsion.

Published in:

Robotics, Automation and Mechatronics, 2004 IEEE Conference on  (Volume:2 )

Date of Conference:

1-3 Dec. 2004

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