Cart (Loading....) | Create Account
Close category search window

Real-time Motion Planning for Interaction between Human Arm and Robot Manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Hong Liu ; National Lab. on Machine Perception, Peking Univ., Beijing ; Kerning Chen ; Hongbin Zha

This paper proposes a new scheme for solving real-time motion planning problems between a human arm and a robot manipulator. These problems are very important towards real-time human-robot interaction. For solving the real-time motion planning problems in dynamic interaction environments, a new method of obstacle direct mapping (ODM) is proposed. In preprocessing phase, a mapping from cells in workspace to nodes and edges in the road map of configuration space is constructed. The roadmap of C-space is constructed based on a PRM framework. In query phase, some determinate points on obstacles (human arm) surface are sampled, only the cells which contain at least one sampled point are mapped into the roadmap. Based on the points sampling on moving object's surface, translation and rotation of the object can be easily and rapidly expressed. Compared with the methods using online collision detection and A* searching technique, simulation experiments with real parameters of Kawasaki manipulator are implemented. The experimental results show that the proposed scheme is efficient and feasible for motion planning between a human arm and a robot manipulator

Published in:

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Date of Conference:

22-26 Aug. 2004

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.