Abstract
The elastic strip framework presented in this paper is a new approach to real-time obstacle avoidance for robots with many degrees of freedom. The avoidance behavior can be integrated with task execution, a capability necessary for the application of mobile manipulation to dynamic real-world environments. The elastic strip initially represents a collision-free path generated by a planner. As the environment changes, the elastic strip is incrementally modified to maintain a smooth, collision-free path. Since the elastic strip is entirely represented in workspace, costly computation in a high-dimensional configuration space is avoided. This results in an efficient modification procedure for the elastic strip, even for robots with many degrees of freedom. The general framework of elastic strips is introduced and its application to obstacle avoidance during task execution is discussed.
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© 1998 Springer-Verlag London Limited
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Brock, O., Khatib, O. (1998). Elastic Strips: Real-Time Path Modification for Mobile Manipulation. In: Shirai, Y., Hirose, S. (eds) Robotics Research. Springer, London. https://doi.org/10.1007/978-1-4471-1580-9_1
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DOI: https://doi.org/10.1007/978-1-4471-1580-9_1
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1582-3
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