The Kautham Project: A teaching and research tool for robot motion planning
Document typeConference lecture
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessOpen Access
This paper presents the software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, being a generic robot defined as a kinematic tree with a mobile base, i.e. the tool can plan and simulate from simple two degrees of freedom free-flying robots to multi-robot scenarios with mobile manipulators equipped with anthropomorphic hands. The main core of planners is provided by the Open Motion Planning Library (OMPL). Different basic planners can be flexibly used and parameterized, allowing students to gain insight into the different planning algorithms. Among the advanced features the tool allows to easily define the coupling between degrees of freedom, the dynamic simulation and the integration with task planers. It is principally being used in the research of motion planning strategies for hand-arm robotic systems.
CitationRosell, J. [et al.]. The Kautham Project: A teaching and research tool for robot motion planning. A: IEEE International Conference on Emerging Technologies and Factory Automation. "Proceedings of the 19th IEEE International Conference on Emerging Technologies and Factory Automation". Barcelona: Institute of Electrical and Electronics Engineers (IEEE), 2014, p. 1-8.
- Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos [1.264]
- Departament d'Enginyeria mecànica - Ponències/Comunicacions de congressos 
- IOC - Institut d'Organització i Control de Sistemes Industrials - Ponències/Comunicacions de congressos 
- SIR - Service and Industrial Robotics - Ponències/Comunicacions de congressos