Haptic Primitives Guidance Based on the Kautham Path Planner
Tipus de documentComunicació de congrés
Condicions d'accésAccés restringit per política de l'editorial
Path planning methods are well suited to automatically perform robotic tasks; haptic guidance is a powerful tool for disabled people rehabilitation, sports training, handcraft skills acquiring and such kind of enactive tasks. This paper proposes a novel an efficient method to accomplish guided movements by efficiently combing path planning methods and haptic guidance. The main contribution of this paper is the development of a reliable method to haptically guide the user within a virtual robotic task, by means of: on-line, collision free, path planning generated trajectories. To accomplish haptic guidance three stages must be correctly done: the first one where the user selects the desired objects and obstacles within a virtual environment to set up the task, the second one, where a path planner looks for the task trajectory and, the third one, where the user is constrained to on-line generated local channels and solution paths that offer a reliable path guidance system to achieve the task movements.
CitacióVázquez, C. [et al.]. Haptic Primitives Guidance Based on the Kautham Path Planner. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2010 IEEE/RSJ International Conference on Intelligent Robots and Systems". Taipei: IEEE, 2010, p. 4686-4691.