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Autonomous Robots
Erschienen in: Autonomous Robots 2/2019

29.06.2018

Asymptotically optimal kinematic design of robots using motion planning

verfasst von: Cenk Baykal, Chris Bowen, Ron Alterovitz

Erschienen in: Autonomous Robots | Ausgabe 2/2019

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Abstract

In highly constrained settings, e.g., a tentacle-like medical robot maneuvering through narrow cavities in the body for minimally invasive surgery, it may be difficult or impossible for a robot with a generic kinematic design to reach all desirable targets while avoiding obstacles. We introduce a design optimization method to compute kinematic design parameters that enable a single robot to reach as many desirable goal regions as possible while avoiding obstacles in an environment. Our method appropriately integrates sampling-based motion planning in configuration space into stochastic optimization in design space so that, over time, our evaluation of a design’s ability to reach goals increases in accuracy and our selected designs approach global optimality. We prove the asymptotic optimality of our method and demonstrate performance in simulation for (1) a serial manipulator and (2) a concentric tube robot, a tentacle-like medical robot that can bend around anatomical obstacles to safely reach clinically-relevant goal regions.
Vorheriger Artikel Optimal shape and motion planning for dynamic planar manipulation
Nächster Artikel “I Choose... YOU!” Membership preferences in human–robot teams

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Fußnoten
1
In fact, for any objective that can be defined with respect to a set of points on the robot, we can define the mapping f as \(f(\mathbf {d}, \mathbf {q}, \mathbf {k}) \mapsto \mathrm {Shape}(\mathbf {d}, \mathbf {q},\mathbf {k})\) for any objective-specific \({\mathcal {K}}_\mathrm {reach}\subseteq {\mathcal {K}}_\mathrm {robot}\).
 
2
We remark that a default initial value of 1 for \(T_\mathrm {init}\) is suggested in Ingber (1993, 1989), and Ingber et al. (2012) and refer the reader to prior work, e.g., (Ben-Ameur 2004), for computing an appropriate \(T_\mathrm {init}\).
 
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Metadaten
Titel
Asymptotically optimal kinematic design of robots using motion planning
verfasst von
Cenk Baykal
Chris Bowen
Ron Alterovitz
Publikationsdatum
29.06.2018
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 2/2019
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-018-9766-x

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