Spatial reasoning for real-time robotic manipulation

Han Young Jang, Hadi Moradi, Suyeon Hong, Sukhan Lee, Junghyun Han

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

Presented in this paper is an approach to real-time spatial reasoning for manipulative robotic tasks. When a service robot is requested to manipulate an object, it should determine the directions along which it can access and remove the object. The potential accessible directions for the object are retrieved from the object database. Then, spatial reasoning with the surrounding environment and the gripper geometry is invoked to verify the directions. The verification process mainly utilizes the visibility test of the commodity graphics hardware. Then, the directions along which both of the object and gripper are translated without colliding with the surrounding obstacles are computed using Minkowski sum and cube map of the graphics hardware. The access and removal directions are passed to the potential field path planning algorithm to determine the robot arm's full path for accessing, removing and delivering the object. The experimental results show the feasibility of using graphics hardware for manipulative robotic tasks and further its performance gain in real-time manipulation.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages2632-2637
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

    Fingerprint

Keywords

  • Accessibility
  • Graphics hardware
  • Robotic manipulation
  • Spatial reasoning

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Jang, H. Y., Moradi, H., Hong, S., Lee, S., & Han, J. (2006). Spatial reasoning for real-time robotic manipulation. In IEEE International Conference on Intelligent Robots and Systems (pp. 2632-2637). [4058787] https://doi.org/10.1109/IROS.2006.281943