Motion Planning for a Continuum Robotic Mobile Lamp: Defining and Navigating the Configuration Space

被引：0
|
作者：
Hawks, Zachary [1 ]
Frazelle, Chase [1 ]
Green, Keith E. [2 ]
Walker, Ian D. [1 ]
机构：
[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA
[2] Cornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USA
来源：
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2019年
基金：
美国国家科学基金会;
关键词：
DESIGN;
D O I：
10.1109/iros40897.2019.8967841
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
We discuss motion planning in the configuration spaces of robots containing continuum elements. The configuration space structure of extensible continuum sections is first analyzed, with practical constraints unique to continuum elements identified. The results are applied to generate the configuration space of a hybrid continuum lamp/mobile base robot. A conventional motion planning RRT/A* approach is subsequently applied for the robot in an aging in place application scenario.
引用
收藏
页码：2559 / 2566
页数：8
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