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Real-time path planning for a robotic arm

Published: 25 May 2011 Publication History

Abstract

With robotics technology, services can be provided to care for individuals with disabilities. This paper describes an effort to improve path planning performance for a robotic arm, resulting in faster user response in real-time. For a robotic arm, particularly with multiple degrees of freedom, path planning is computationally expensive. We propose that it is possible to achieve rapid response times with an assistive robotic arm by caching frequent arm trajectories and creating a "roadmap" of arm movements. By calculating trajectories to possible target goals in advance, we anticipate an improvement in user response times.

References

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Adi Botea, Martin Müller, and Jonathan Schaeffer. Near optimal hierarchical path-finding. Journal of Game Development, 1:7--28, 2004.
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R. Holte, J. Grajkowski, and B. Tanner. Hierarchical heuristic search revisited. 2005.
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R. Mohan. Java implementation of algorithms from norvig and russell's 'artificial intelligence - a modern approach 3rd edition.', 2010.
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Moritz Tenorth, Jan Bandouch, and Michael Beetz. The TUM Kitchen Data Set of Everyday Manipulation Activities for Motion Tracking and Action Recognition. In IEEE Int. Workshop on Tracking Humans for the Evaluation of their Motion in Image Sequences (THEMIS). In conjunction with ICCV2009, 2009.
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Jason Wolfe, Bhaskara Marthi, and Stuart Russell. Combined task and motion planning for mobile manipulation. In International Conference on Automated Planning and Scheduling, 2010.

Cited By

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  • (2021)Endüstriyel Robot Hareket Planlama Algoritmaları Performans KarşılaştırmasıJournal of Scientific Technology and Engineering Research10.53525/jster.979689Online publication date: 17-Sep-2021
  • (2017)Skill robot library: Intelligent path planning framework for object manipulation2017 25th European Signal Processing Conference (EUSIPCO)10.23919/EUSIPCO.2017.8081640(2398-2402)Online publication date: Aug-2017
  • (2016)Pathway to IndependenceSpecial and Gifted Education10.4018/978-1-5225-0034-6.ch064(1444-1492)Online publication date: 2016
  • Show More Cited By

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cover image ACM Other conferences
PETRA '11: Proceedings of the 4th International Conference on PErvasive Technologies Related to Assistive Environments
May 2011
401 pages
ISBN:9781450307727
DOI:10.1145/2141622
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Sponsors

  • NSF: National Science Foundation
  • Foundation of the Hellenic World
  • ICS-FORTH: Institute of Computer Science, Foundation for Research and Technology - Hellas
  • U of Tex at Arlington: U of Tex at Arlington
  • UCG: University of Central Greece
  • Didaskaleio Konstantinos Karatheodoris, University of the Aegean
  • Fulbrigh, Greece: Fulbright Foundation, Greece
  • Ionian: Ionian University, GREECE

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 25 May 2011

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Author Tags

  1. assistance
  2. cache
  3. robotic arm

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PETRA '11
Sponsor:
  • NSF
  • ICS-FORTH
  • U of Tex at Arlington
  • UCG
  • Fulbrigh, Greece
  • Ionian

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Cited By

View all
  • (2021)Endüstriyel Robot Hareket Planlama Algoritmaları Performans KarşılaştırmasıJournal of Scientific Technology and Engineering Research10.53525/jster.979689Online publication date: 17-Sep-2021
  • (2017)Skill robot library: Intelligent path planning framework for object manipulation2017 25th European Signal Processing Conference (EUSIPCO)10.23919/EUSIPCO.2017.8081640(2398-2402)Online publication date: Aug-2017
  • (2016)Pathway to IndependenceSpecial and Gifted Education10.4018/978-1-5225-0034-6.ch064(1444-1492)Online publication date: 2016
  • (2016)Developing a limb repositioning robotic interface for persons with severe physical disabilitiesUniversal Access in the Information Society10.1007/s10209-015-0439-715:4(609-627)Online publication date: 1-Nov-2016
  • (2014)Pathway to IndependenceDisability Informatics and Web Accessibility for Motor Limitations10.4018/978-1-4666-4442-7.ch005(153-201)Online publication date: 2014

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