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Planning manipulation movements of a dual-arm system considering obstacle removing

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10.1016/j.robot.2014.07.003
 
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hdl:2117/25096

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Rodríguez Pacheco, Carlos
Montaño Sarria, Andrés FelipeMés informacióMés informació
Suárez Feijóo, RaúlMés informacióMés informacióMés informació
Document typeArticle
Defense date2014-12-01
Rights accessOpen Access
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
Abstract
The paper deals with the problem of planning movements of two hand-arm robotic systems, considering the possibility of using the robot hands to remove potential obstacles in order to obtain a free access to grasp a desired object. The approach is based on a variation of a Probabilistic Road Map that does not rule out the samples implying collisions with removable objects but instead classifies them according to the collided obstacle(s), and allows the search of free paths with the indication of which objects must be removed from the work-space to make the path actually valid; we call it Probabilistic Road Map with Obstacles (PRMwO). The proposed system includes a task assignment system that distributes the task among the robots, using for that purpose a precedence graph built from the results of the PRMwO. The approach has been implemented for a real dual-arm robotic system, and some simulated and real running examples are presented in the paper. (C) 2014 Elsevier B.V. All rights reserved.
CitationRodriguez, C.; Montaño, A.; Suarez, R. Planning manipulation movements of a dual-arm system considering obstacle removing. "Robotics and autonomous systems", 01 Desembre 2014, vol. 62, núm. 12, p. 1816-1826. 
URIhttp://hdl.handle.net/2117/25096
DOI10.1016/j.robot.2014.07.003
ISSN0921-8890
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  • SIR - Service and Industrial Robotics - Articles de revista [77]
  • IOC - Institut d'Organització i Control de Sistemes Industrials - Articles de revista [119]
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