By Topic

Planning compliant motion strategies

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
$33 $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

1 Author(s)
Buckley, S.J. ; IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA

A planning program which synthesizes compliant motion strategies, in which an object in the grasp of a robot slides along obstacles in an attempt to reach a goal region, is described. The input to the planner is a model of the task geometry, a start region, and a goal region. To make the planning problem tractable, the task geometry is reduced to a finite state space, whose states are collections of vertices, edges, and faces from the configuration space of the robot. Strategy synthesis is complicated by uncertainty in the starting configuration of the robot and in robot sensing and control. The planner synthesizes compliant motions which are guaranteed to perform state transitions despite uncertainty. Using best first search, compliant motions are synthesized until a strategy is found from the start state to a goal state. A double-hole environment for which the planner produced a compliant motion strategy is shown. The planner was also tested successfully on two other configuration space environments, a cube and a single hole. The single-hole strategy was successfully executed on an IBM 7565 robot. The implemented program represents the first general-purpose compliant motion planner to generate multistep strategies

Published in:

Intelligent Control, 1988. Proceedings., IEEE International Symposium on

Date of Conference:

24-26 Aug 1988