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Motion planning using first-order synergies
dc.contributor.author | García Hidalgo, Néstor |
dc.contributor.author | Rosell Gratacòs, Jan |
dc.contributor.author | Suárez Feijóo, Raúl |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.date.accessioned | 2016-02-02T09:13:34Z |
dc.date.issued | 2015 |
dc.identifier.citation | García, N., Rosell, J., Suarez, R. Motion planning using first-order synergies. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28-October 2, 2015". Hamburg: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 2058-2063. |
dc.identifier.isbn | 978-1-4799-9994-1 |
dc.identifier.uri | http://hdl.handle.net/2117/82396 |
dc.description.abstract | This paper proposes a novel motion planning approach that exploits the concept of synergies (correlations) between degrees of freedom, extending it to the velocity space and calling them first-order synergies. An automatic partition method is defined to optimally divide the configuration space into cells where first-order synergies are significantly different. Using this partition, an algorithm that tends to grow a tree by extending the branches in the directions determined by the the first-order synergies of the cell where the leaf to be grown lies is introduced and called FOS-RRT. This allows the natural expansion of the tree along the directions determined by the data used to define the synergies. 2D examples illustrate the performance of the proposed approach, which is particularly attractive for potential applications in human-like robots using human synergies. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots -- Motion |
dc.subject.other | humanoid robots |
dc.subject.other | path planning |
dc.subject.other | Correlation |
dc.subject.other | Eigenvalues and eigenfunctions |
dc.subject.other | Linear programming |
dc.subject.other | Partitioning algorithms |
dc.subject.other | Planning |
dc.subject.other | Principal component analysis |
dc.subject.other | Robots |
dc.title | Motion planning using first-order synergies |
dc.type | Conference lecture |
dc.subject.lemac | Robots -- Moviment |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.identifier.doi | 10.1109/IROS.2015.7353650 |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 17372121 |
dc.description.version | Postprint (author's final draft) |
dc.date.lift | 10000-01-01 |
local.citation.author | García, N.; Rosell, J.; Suarez, R. |
local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.pubplace | Hamburg |
local.citation.publicationName | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28-October 2, 2015 |
local.citation.startingPage | 2058 |
local.citation.endingPage | 2063 |