Two-grade search mechanism based motion planning of a three-limbed robot

被引：0

作者：

庞明

机构：

[1] RobotResearchInstitute,HarbinInstituteofTechnology,Harbin,PRChina

来源：

HighTechnologyLetters | 2008年 / 14卷 / 04期

关键词：

three-limbed robot; motion planning; virtual compliance; human-robot interface;

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

<正> A novel three-limbed robot was described and its motion planning method was discussed.After theintroduction of the robot mechanical structure and the human-robot interface,a two-grade search mecha-nism based motion planning method was proposed.The first-grade search method using genetic algorithmtries to find an optimized target position and orientation of the three-limbed robot.The second-gradesearch method using virtual compliance tries to avoid the collision between the three-limbed robot and ob-stacles in a dynamic environment.Experiment shows the feasibility of the two-grade search mechanismand proves that the proposed motion planning method can be used to solve the motion planning problem ofthe redundant three-limbed robot without deficiencies of traditional genetic algorithm.

引用

页码：405 / 410

页数：6

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