Augmenting Human Performance in Motion Planning Tasks - the Configuration Space Approach

Motion Synthesis through Randomized Exploration on Submanifolds of Configuration Space

Motion synthesis for humanoid robot behaviours is made difficult by the combination of task space, joint space and kinodynamic constraints that define realisability. Solving these problems by general purpose methods such as sampling based motion planning has involved significant computational complexity, and has also required specialised heuristics to handle constraints. In this paper we propos...

A human-machine interface for teleoperation of arm manipulators in it complex environment

This paper discusses the feasibility of using configuration space (C-space) as a means of visualization and control in operator-guided real-time motion of a robot arm manipulator. The motivation is to improve performance of the human operator in tasks involving the manipulator motion in an environment with obstacles. Unlike some other motion planning tasks, operators are known to make expensive...

Crime Prevention in Urban Design: towards Space Syntax Approach as a Quantitative Analytic Modeling of Qualitative Issue of Security (Based on Spatial Configuration)

Completing Manipulation Tasks Efficiently in Complex Environments

An effective autonomous robot performing dangerous or menial tasks will need to act under significant time and energy constraints. At task time, the amount of effort a robot spends planning its motion directly detracts from its total performance. Manipulation tasks, however, present challenges to efficient motion planning. Tightly coupled steps (e.g. choices of object grasps or placements) allo...

Predicting Motion Behavior Under Contact Uncertainty

Performing complex assembly tasks with robots requires fine-motion planners able to cope with uncertainty and contact motions, which is a difficult issue. This report proposes a method to predict the behavior of motions under contact uncertainty in order to check the feasibility of paths generated by gross-motion planning algorithms from a nominal model of the environment. This pragmatical appr...