Abstract
Human-like behavior is crucial for intelligent service robots that are to perform versatile tasks in day to day life. In this paper, an integrated approach to human-like manipulation is presented, which addresses realtime three-dimensional (3-D) workspace modeling and accessibility analysis for motion planning. The 3-D workspace modeling uses three main principles: identification of global geometric features, substitution of recognized known objects by corresponding solid models in the database and multi-resolution representation of unknown obstacles as required by the task at hand. Accessibility analysis is done through visibility tests. It complements and accelerates general motion planning. The experimental results demonstrate that the human-like behavior-oriented methods are sufficiently fast and robust to model 3-D workspace, and to plan and execute tasks for robotic manipulative applications.
| Original language | English |
|---|---|
| Pages (from-to) | 983-1005 |
| Number of pages | 23 |
| Journal | Advanced Robotics |
| Volume | 22 |
| Issue number | 9 |
| DOIs | |
| Publication status | Published - 2008 Sep 1 |
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Keywords
- Motion planning
- Multi-resolution modeling
- Object manipulation
- Service robot
- Workspace modeling
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Toward human-like real-time manipulation : From perception to motion planning. / Lee, Sukhan; Moradi, Hadi; Jang, Daesik; Jang, Hanyoung; Kim, Eunyoung; Le, Phuoc Minh; Seo, Jeonghyun; Han, Junghyun.
In: Advanced Robotics, Vol. 22, No. 9, 01.09.2008, p. 983-1005.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Toward human-like real-time manipulation
T2 - From perception to motion planning
AU - Lee, Sukhan
AU - Moradi, Hadi
AU - Jang, Daesik
AU - Jang, Hanyoung
AU - Kim, Eunyoung
AU - Le, Phuoc Minh
AU - Seo, Jeonghyun
AU - Han, Junghyun
PY - 2008/9/1
Y1 - 2008/9/1
N2 - Human-like behavior is crucial for intelligent service robots that are to perform versatile tasks in day to day life. In this paper, an integrated approach to human-like manipulation is presented, which addresses realtime three-dimensional (3-D) workspace modeling and accessibility analysis for motion planning. The 3-D workspace modeling uses three main principles: identification of global geometric features, substitution of recognized known objects by corresponding solid models in the database and multi-resolution representation of unknown obstacles as required by the task at hand. Accessibility analysis is done through visibility tests. It complements and accelerates general motion planning. The experimental results demonstrate that the human-like behavior-oriented methods are sufficiently fast and robust to model 3-D workspace, and to plan and execute tasks for robotic manipulative applications.
AB - Human-like behavior is crucial for intelligent service robots that are to perform versatile tasks in day to day life. In this paper, an integrated approach to human-like manipulation is presented, which addresses realtime three-dimensional (3-D) workspace modeling and accessibility analysis for motion planning. The 3-D workspace modeling uses three main principles: identification of global geometric features, substitution of recognized known objects by corresponding solid models in the database and multi-resolution representation of unknown obstacles as required by the task at hand. Accessibility analysis is done through visibility tests. It complements and accelerates general motion planning. The experimental results demonstrate that the human-like behavior-oriented methods are sufficiently fast and robust to model 3-D workspace, and to plan and execute tasks for robotic manipulative applications.
KW - Motion planning
KW - Multi-resolution modeling
KW - Object manipulation
KW - Service robot
KW - Workspace modeling
UR - http://www.scopus.com/inward/record.url?scp=47249101968&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=47249101968&partnerID=8YFLogxK
U2 - 10.1163/156855308X315136
DO - 10.1163/156855308X315136
M3 - Article
VL - 22
SP - 983
EP - 1005
JO - Advanced Robotics
JF - Advanced Robotics
SN - 0169-1864
IS - 9
ER -