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Simulated and experimental results of dual resolution sensor based planning for hyper-redundant manipulators

Takanashi, N. and Chose, H. and Burdick, J. W. (1993) Simulated and experimental results of dual resolution sensor based planning for hyper-redundant manipulators. In: Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93). Vol.1. IEEE , Piscataway, NJ, pp. 636-643. ISBN 0-7803-0823-9. https://resolver.caltech.edu/CaltechAUTHORS:20190612-093147983

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Abstract

This paper presents a dual-resolution local sensor based planning method for hyper-redundant robot mechanisms. Two classes of sensor feedback control methods, working at different sampling rates and different spatial resolutions, are considered: full shape modification (FSM), and partial shape modification (PSM). FSM and PSM cooperate to utilize a mechanism's hyper-redundancy to enable both local obstacle avoidance and end-effector placement in real-time. These methods have been implemented on a thirty degree of freedom hyper-redundant manipulator which has 11 ultrasonic distance measurement sensors and 20 infrared proximity sensors. The implementation of these algorithms in a dual CPU real-time control computer, an innovative sensor bus architecture, and a novel graphical control interface are described. Experimental results obtained using this test bed show the efficacy of the proposed method.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS.1993.583181DOIArticle
Additional Information:© 1993 IEEE. This work has been supported by National Science Foundation Presidential Young Investigator Grant MSS-9157843, by the office of Naval Research Young Investigator Award N00014-92-J-1920, and by a grant from the NEC Corporation. The authors would like to thank Jim Ostrowski, I-Ming Chen, Tim Frank, Elon Rimon, Jim Radford, and especially Brett Slatkin for their help in constructing the sensor modules. The authors would also like to thank Dr. Tagawa and Mr. Yamamoto of the NEC Corporation for making this collaborative research opportunity possible.
Funders:
Funding AgencyGrant Number
NSFMSS-9157843
Office of Naval Research (ONR)N00014-92-J-1920
NEC CorporationUNSPECIFIED
Record Number:CaltechAUTHORS:20190612-093147983
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190612-093147983
Official Citation:N. Takanashi, H. Chose and J. W. Burdick, "Simulated and experimental results of dual resolution sensor based planning for hyper-redundant manipulators," Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), Yokohama, Japan, 1993, pp. 636-643 vol.1. doi: 10.1109/IROS.1993.583181
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96316
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:12 Jun 2019 17:03
Last Modified:03 Oct 2019 21:21

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