| Budget Amount *help |
¥17,420,000 (Direct Cost: ¥13,400,000、Indirect Cost: ¥4,020,000)
Fiscal Year 2011: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2010: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2009: ¥7,280,000 (Direct Cost: ¥5,600,000、Indirect Cost: ¥1,680,000)
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| Research Abstract |
This research aims at establishing a motion planning framework that is capable of adapting the planned robot motions to a changing environment in multiple spatial and temporal scales. Spatial adaptation has first been achieved by exploiting" dominant degrees of freedom(DOF)" that governs global robot motions, together with a framework of parallel path planning and execution. Next, we devised temporal adaptation through global timing and local path deformation in order to generate adaptive motions. Those multi-scale spatial and temporal adaptation capabilities are integrated via a hierarchical roadmap data structure and applied to different types of robots to validate its effectiveness.
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