Abstract
This paper presents a new control method that enable the robot pushes the obstacle while it moves to the target. In this paper, the shared control combines the user command—always directed at the target, and the machine command—to control the robot to avoid obstacles. And traditional obstacle avoidance requires to find a collision free path, which will find no solution in clutter environment. With pushing obstacles, the robot can solve a problem which was unsolvable, or find a more optimal solution (such as less motion for all joints). However, how to ensure the safety of pushing is a challenge. In this paper, an enhanced artificial potential field obstacle avoidance method is proposed, and a potential field for guaranteeing the safety of pushing is defined. The proposed method is test in simulation system, and the result shows that the proposed method is effective.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Li, Q., Chen, W., Wang, J.: Dynamic shared control for human-wheelchair cooperation. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 4278–4283. IEEE (2011)
Wei, Z., Chen, W., Wang, J.: 3d semantic map-based shared control for smart wheelchair. In: Intelligent Robotics and Applications, pp. 41–51. Springer (2012)
Stilman, M., Kuffner, J.: Planning among movable obstacles with artificial constraints. Int. J. Robot. Res. 27(11–12), 1295–1307 (2008)
Stilman, M., Schamburek, J.-U., Kuffner, J., Asfour, T.: Manipulation planning among movable obstacles. In: 2007 IEEE International Conference on Robotics and Automation, April 2007, pp. 3327–3332 (2007)
Miyazawa, K., Maeda, Y., Arai, T.: Planning of graspless manipulation based on rapidly-exploring random trees. In: The 6th IEEE International Symposium on Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing (ISATP 2005), July 2005, pp. 7–12 (2005)
Makita, S., Maeda, Y.: Joint torque optimization for quasi-static graspless manipulation. In: 2013 IEEE International Conference on Robotics and Automation (ICRA), May 2013, pp. 3730–3735 (2013)
Wei, Z., Chen, W., Wang, J.: Semantic mapping for smart wheelchairs using rgb-d camera. J. Med. Imaging Health Inf. 3(1), 94–100 (2013)
Aiyama, Y., Inaba, M., Inoue, H.: Pivoting: A new method of graspless manipulation of object by robot fingers. In: Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems ’93, IROS ’93., Jul 1993, vol. 1, pp. 136–143 (1993)
Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: Ros: an open-source robot operating system. In: ICRA workshop on open source software, vol. 3, no. 3.2, p. 5 (2009)
Munaro, M., Rusu, R.B., Menegatti, E.: 3d robot perception with point cloud library. In: Robotics and Autonomous Systems (2016). http://www.sciencedirect.com/science/article/pii/S0921889015003176
Acknowledgements
This work is partially supported by the China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER) under Grant 2012GB102001, the Natural Science Foundation of China under Grants 61175088, 61221003 and 61573243.
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Wei, Z., Chen, W., Wang, H. (2017). Shared Control with Flexible Obstacle Avoidance for Manipulator. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_17
Download citation
DOI: https://doi.org/10.1007/978-3-319-48036-7_17
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-48035-0
Online ISBN: 978-3-319-48036-7
eBook Packages: EngineeringEngineering (R0)