Bio-Mimetic Trajectory Generation of Robots via Artificial Potential Field With Time Base Generator

IEEE Transactions on Systems, Man, and Cybernetic-Part C: Applications and Reviews Volume 32 Issue 4 Page 426-439 published_at 2002
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Title ( eng )
Bio-Mimetic Trajectory Generation of Robots via Artificial Potential Field With Time Base Generator
Creator
Tanaka Yoshiyuki
Morasso Pietro G.
Sanguineti Vittorio
Kaneko Makoto
Source Title
IEEE Transactions on Systems, Man, and Cybernetic-Part C: Applications and Reviews
Volume 32
Issue 4
Start Page 426
End Page 439
Abstract
This paper proposes a new trajectory generationmethod that allows full control of transient behavior, namely,time-to-target and velocity profile, based on the artificial potentialfield approach for a real-time motion planning problem of robots.Little attention, in fact, has been paid to the temporal aspects ofthis class of path planning methods. The ability to control themotion time to the target as well as the velocity profile of thegenerated trajectories, however, is of great interest in real-lifeapplications. In the paper, we argue that such transient behaviorshould be taken into account within the framework of the artificialpotential field approach.
Keywords
Artificial potential field
human-like movements
time base generator
trajectory generation
NDC
Mechanical engineering [ 530 ]
Language
eng
Resource Type journal article
Publisher
IEEE
Date of Issued 2002
Rights
Copyright (c) 2002 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 1094-6977
[DOI] 10.1109/TSMCC.2002.807273
[DOI] http://dx.doi.org/10.1109/TSMCC.2002.807273