2011 Fiscal Year Final Research Report
Non-stop motion replanning capable of multi-scale spatiotemporal adaptation for robots with many degrees of freedom
| Project/Area Number |
21300078
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (B)
|
| Allocation Type | Single-year Grants |
|---|
| Section | 一般 |
|---|
| Research Field |
Perception information processing/Intelligent robotics
|
|---|
| Research Institution | National Institute of Advanced Industrial Science and Technology |
|---|
Principal Investigator |
YOSHIDA Eiichi 独立行政法人産業技術総合研究所, 知能システム研究部門, 連携研究体長 (30358329)
|
|---|
| Co-Investigator(Kenkyū-buntansha) |
KANEHIRO Fumio 独立行政法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (70356806)
HARADA Kensuke 独立行政法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (50294533)
|
|---|
| Co-Investigator(Renkei-kenkyūsha) |
YOKOI Kazuhito 独立行政法人産業技術総合研究所, 知能システム研究部門, 副研究部門長 (40358304)
|
|---|
| Project Period (FY) |
2009 – 2011
|
| Keywords | 知能ロボティックス / モーションプランニング / 多自由度ロボット / 実時間計画 |
|---|
| 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.
|
Research Products
(5 results)
