Behnisch, Matthias: Task level motion planning : integrating local robot control and global sampling. 2012
Inhalt
- Introduction
- Motion Control
- Task Representation
- Jacobian Pseudoinverse Motion Rate Control
- Singularity Robust Motion Rate Control
- Redundancy Resolution
- Humanoid Whole Body Motion
- Constraints
- Relaxed Motion Control
- Motion Planning
- Planning as Optimization
- The General Motion Planning Problem
- Combinatorial Motion Planning
- Sampling-Based Motion Planning
- Challenges for Sampling-Based Planning
- Hybrid Motion Planning
- Task Level Planning
- Formulation
- Task Space Sampling
- Dispersion Estimation
- Dispersion Reduction Sampling
- Task Space Dispersion Reduction
- Simultaneous Task and Configuration Space Dispersion Reduction
- Case Study: Simple Redundant Robot Model
- Results
- Discussion
- Completeness
- Hybrid Planning for Redundant Robots
- Redundant Robot Motion Planning
- A Hybrid Motion Planning Algorithm
- A Control-Enhanced Motion Planning Algorithm
- Simulation Framework
- Evaluation
- Task Representation
- Configuration Space
- Local Planning
- Algorithm Implementation
- Setup
- Performance Metric
- Results
- Discussion
- Bi-Manual Hybrid Planning
- A Humanoid Motion Planning Experiment
- Bi-Manual Motion Planning
- Task Representation
- Planning
- Setup
- Results
- Discussion
- Relaxed Control Hybrid Planning
- Task Space Local Planning
- Exploration and Exploitation
- Hybrid Planning with Relaxed Motion Control
- Evaluation
- Results
- Discussion
- Optimal Solutions
- Conclusion
- Integrating the Attractor Dynamic
- Bibliography