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Collision Free Path Planning for Intrinsic Safety of Multi-fingered SDH-2

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KI 2010: Advances in Artificial Intelligence (KI 2010)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6359))

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Abstract

This paper presents a collision free path planning algorithm for the multi-fingered SDH2. The goal of this algorithm is the autonomous transfer of all fingers into a desired target position. The algorithm is independent of the initial finger position and may be used irrespective of any collision detection algorithm. It will be presented how forbidden finger movements can be discovered. The need for this feature, advantages and important Real-Time characteristics as well as further possibilities are discussed.

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References

  1. SCHUNK GmbH & Co. KG, Servo-electric 3-Finger Gripping Hand SDH2 (2010), http://www.schunk.com

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  4. Lavalle, S.M.: Rapidly-Exploring Random Trees: A New Tool for Path Planning

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  5. Haase, T., Woern, H.: Real-time collision detection for intrinsic safety of Multi-fingered SDH-2 (2010)

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  6. Lyons, D.: Tagged potential fields: and approach to specification of complex manipulator configurations. In: IEEE International Conference on Robotics and Automation

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Author information

Authors and Affiliations

  1. Institute for Process Control and Robotics, Karlsruhe Institute of Technology (KIT), D-76131, Karlsruhe, Germany

    Thomas Haase & Heinz Wörn

Authors
  1. Thomas Haase
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  2. Heinz Wörn
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Editor information

Editors and Affiliations

  1. Institute for Anthropomatics, KIT, Karlsruhe, Germany

    Rüdiger Dillmann

  2. Lehrstuhl für Interaktive Echtzeitsysteme, KIT, Karlsruhe, Germany

    Jürgen Beyerer

  3. Lehrstuhl für Intelligente Sensor-Aktor-Systeme (ISAS), KIT, Karlsruhe, Germany

    Uwe D. Hanebeck

  4. Cognitive Systems Lab (CSL), KIT, Karlsruhe, Germany

    Tanja Schultz

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© 2010 Springer-Verlag Berlin Heidelberg

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Haase, T., Wörn, H. (2010). Collision Free Path Planning for Intrinsic Safety of Multi-fingered SDH-2. In: Dillmann, R., Beyerer, J., Hanebeck, U.D., Schultz, T. (eds) KI 2010: Advances in Artificial Intelligence. KI 2010. Lecture Notes in Computer Science(), vol 6359. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16111-7_37

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  • DOI: https://doi.org/10.1007/978-3-642-16111-7_37

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16110-0

  • Online ISBN: 978-3-642-16111-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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