Methods for collision-free arm teleoperation in clutter using constraints from 3D sensor data
Methods for collision-free arm teleoperation in clutter using constraints from 3D sensor data
复制标题
使用 3D 传感器数据约束在杂乱环境中实现无碰撞臂遥控操作的方法
DOI：
--
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
K. Salisbury
中科院分区：
文献类型：
--
作者：
A. Leeper;Kaijen Hsiao;M. Ciocarlie;I. Sucan;K. Salisbury
介绍了一种基于约束感知的遥操作方法CAT，该方法能够在避免环境碰撞、自碰撞和关节限制的同时，连续跟踪更新的六自由度末端执行器目标。我们的方法使用序列二次规划来生成服从运动学约束的运动轨迹，同时试图在每一步中减少到目标的距离。使用商品深度相机在运行时创建和更新环境模型。我们将我们的方法与基于全局运动规划、逆运动学和雅可比转置控制的另外三种遥操作策略进行了比较。我们的分析使用了一个真实的机器人在各种场景中，强调了每种方法的优点，并表明我们引入的CAT方法在广泛的场景中表现良好。
We introduce CAT, a constraint-aware teleoperation method that can track continuously updating 6-DOF end-effector goals while avoiding environment collisions, self-collisions, and joint limits. Our method uses sequential quadratic programming to generate motion trajectories that obey kinematic constraints while attempting to reduce the distance to the goal with each step. Environment models are created and updated at run-time using a commodity depth camera. We compare our method to three additional teleoperation strategies, based on global motion planning, inverse kinematics, and Jacobian-transpose control. Our analysis, using a real robot in a variety of scenes, highlights the strengths of each method, and shows that the CAT method we introduce performs well over a wide range of scenarios.
影响因子：
3.5
作者：
Hornung, Armin;Wurm, Kai M.;Burgard, Wolfram
通讯作者：
Burgard, Wolfram