CORE
🇺🇦
make metadata, not war
Services
Services overview
Explore all CORE services
Access to raw data
API
Dataset
FastSync
Content discovery
Recommender
Discovery
OAI identifiers
OAI Resolver
Managing content
Dashboard
Bespoke contracts
Consultancy services
Support us
Support us
Membership
Sponsorship
Community governance
Advisory Board
Board of supporters
Research network
About
About us
Our mission
Team
Blog
FAQs
Contact us
Timed-Elastic Bands for Manipulation Motion Planning
Authors
J Deray
D Lane
+3 more
B Magyar
S Pfeiffer
N Tsiogkas
Publication date
1 January 2019
Publisher
'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Cite
Abstract
© 2019 IEEE. Motion planning is one of the main problems studied in the field of robotics. However, it is still challenging for the state-of-the-art methods to handle multiple conditions that allow better paths to be found. For example, considering joint limits, path smoothness and a mixture of Cartesian and joint-space constraints at the same time pose a significant challenge for many of them. This letter proposes to use timed-elastic bands for representing the manipulation motion planning problem, allowing to apply continuously optimized constraints to the problem during the search for a solution. Due to the nature of our method, it is highly extensible with new constraints or optimization objectives. The proposed approach is compared against state-of-the-art methods in various manipulation scenarios. The results show that it is more consistent and less variant, while performing in a comparable manner to that of the state of the art. This behavior allows the proposed method to set a lower-bound performance guarantee for other methods to build upon
Similar works
Full text
Open in the Core reader
Download PDF
Available Versions
UPCommons. Portal del coneixement obert de la UPC
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:upcommons.upc.edu:2117/182...
Last time updated on 09/04/2020
Heriot Watt Pure
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:pure.atira.dk:publications...
Last time updated on 28/02/2020
UPCommons
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:upcommons.upc.edu:2117/182...
Last time updated on 17/04/2020
Digital.CSIC
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:digital.csic.es:10261/2024...
Last time updated on 24/05/2020
OPUS - University of Technology Sydney
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:opus.lib.uts.edu.au:10453/...
Last time updated on 20/06/2020
Heriot Watt Pure
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:pure.atira.dk:openaire_cri...
Last time updated on 28/02/2020