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Published July 1993 | Published
Book Section - Chapter Open

Simulated and experimental results of dual resolution sensor based planning for hyper-redundant manipulators

Abstract

This paper presents a dual-resolution local sensor based planning method for hyper-redundant robot mechanisms. Two classes of sensor feedback control methods, working at different sampling rates and different spatial resolutions, are considered: full shape modification (FSM), and partial shape modification (PSM). FSM and PSM cooperate to utilize a mechanism's hyper-redundancy to enable both local obstacle avoidance and end-effector placement in real-time. These methods have been implemented on a thirty degree of freedom hyper-redundant manipulator which has 11 ultrasonic distance measurement sensors and 20 infrared proximity sensors. The implementation of these algorithms in a dual CPU real-time control computer, an innovative sensor bus architecture, and a novel graphical control interface are described. Experimental results obtained using this test bed show the efficacy of the proposed method.

Additional Information

© 1993 IEEE. This work has been supported by National Science Foundation Presidential Young Investigator Grant MSS-9157843, by the office of Naval Research Young Investigator Award N00014-92-J-1920, and by a grant from the NEC Corporation. The authors would like to thank Jim Ostrowski, I-Ming Chen, Tim Frank, Elon Rimon, Jim Radford, and especially Brett Slatkin for their help in constructing the sensor modules. The authors would also like to thank Dr. Tagawa and Mr. Yamamoto of the NEC Corporation for making this collaborative research opportunity possible.

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