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
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Creator |
Tanaka Yoshiyuki
Morasso Pietro G.
Sanguineti Vittorio
Kaneko Makoto
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Source Title |
IEEE Transactions on Systems, Man, and Cybernetic-Part C: Applications and Reviews
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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.
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Keywords |
Artificial potential field
human-like movements
time base generator
trajectory generation
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NDC |
Mechanical engineering [ 530 ]
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Language |
eng
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Resource Type | journal article |
Publisher |
IEEE
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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.
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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
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