title: Whole arm manipulation planning based on feedback velocity fields and sampling-based techniques.
abstract: Changing the configuration of a cooperative whole arm manipulator is not easy while enclosing an object. This difficulty is mainly because of risk of jamming caused by kinematic constraints. To reduce this risk, this paper proposes a feedback manipulation planning algorithm that takes grasp kinematics into account. The idea is based on a vector field that imposes perturbation in object motion inducing directions when the movement is considerably along manipulator redundant directions. Obstacle avoidance problem is then considered by combining the algorithm with sampling-based techniques. As experimental results confirm, the proposed algorithm is effective in avoiding jamming as well as obstacles for a 6-DOF dual arm whole arm manipulator.
authors.affiliation: Electrical and Computer Engineering Department, Missouri University of Science and Technology, 1870 Miner Circle, Rolla, MO 65409, USA. behzad.talaei@aut.ac.ir
authors.forename: B
authors.initials: B
authors.lastname: Talaei
authors.forename: F
authors.initials: F
authors.lastname: Abdollahi
authors.forename: H A
authors.initials: HA
authors.lastname: Talebi
authors.forename: E
authors.initials: E
authors.lastname: Omidi Karkani
mesh_terms: D000465:Algorithms; D001132:Arm / Q000033:anatomy & histology / Q000502:physiology*; D001185:Artificial Intelligence; D001696:Biomechanical Phenomena; D005246:Feedback; D018737:Hand Strength / Q000502:physiology*; D006801:Humans; D007596:Joints / Q000033:anatomy & histology / Q000502:physiology; D009068:Movement; D012371:Robotics
keywords: Jamming; Obstacle avoidance; Sampling-based planning techniques; Velocity field; Whole arm manipulation