Tuning Interaction in Motion Planning with Contact

被引:0
|
作者
Blin, Nassime [1 ,2 ]
Taix, Michel [3 ]
Fillatreau, Philippe [2 ]
Fourquet, Jean-Yves [2 ]
机构
[1] Univ Toulouse, CNRS, LAAS Gepetto, Toulouse, France
[2] Univ Toulouse, INP ENIT, LGP, Tarbes, France
[3] Univ Toulouse, UPS, CNRS, LAAS Gepetto, Toulouse, France
来源
2016 25TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN) | 2016年
关键词
D O I
暂无
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
This work deals with planning processes for the assistance to manipulation in order to simulate industrial tasks such as assembly, maintenance or disassembly in Virtual Reality. This paper presents a novel interactive path planning algorithm with contact based on an BiRRT approach. First, we propose a real-time interactive planner where both a computer and a human operator simultaneously search the workspace therefore largely speeding up the process. An authority sharing parameter can control the autonomy of the computer. Then we present a novel contact-space algorithm able to sample on the surface of obstacles. This method helps finding paths in cluttered environments or solving specific contact tasks such as insertion or sliding operations. We finish by presenting the results of our interactive path planner with contact through three examples showing significant improvement over usual methods in both free and contact space.
引用
收藏
页码:1000 / 1006
页数:7
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