the trajectory planning, which is known as a movement from starting to end point by satisfying the constraints along the path is an essential part of robot motion planning. a common way to create trajectories is to deal with polynomials which have independent coefficients. this paper presents a trajectory formulation as well as a procedure to arrange the suitable trajectories for applications. ...

this paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. to this end, a humanoid robot with 18 dof is considered to develop a dynamics model for studying various 3d manoeuvres. then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. in order to generate feasible w...

solvable graphs (also known as reachable graphs) are types of graphs that any arrangement of a specified number of agents located on the graph’s vertices can be reached from any initial arrangement through agents’ moves along the graph’s edges, while avoiding deadlocks (interceptions). in this paper, the properties of solvable graphs are investigated, and a new concept in multi agent moti...

Abstract Algorithms have been designed for robot motion planning with various adaptability to different problems. However, how choose the most suitable planner in a scene has always problem worthy of research. This paper aims find each query under three scenes and six queries. The work lies optimization sampling-based algorithms through pipeline request adapter. idea is use pre-processing adapt...

in this paper, a new online robot motion planner is developed for systematically exploring unknown environâ¬ments by intelligent mobile robots in real-time applications. the algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. it does so by online calculation of the generalized voronoi graph (gvg) of the free space, and utilizing a combination of depth-first an...

Reformulation of a problem is intended to make the problem more amenable to efficient solution. This is equally true in the special case of reformulating a planning problem. This paper considers various ways in which reformulation can be exploited in planning.

In this paper we consider the motion planning problem for a kinematically redundant manipulator which is used on forestry machines for logging. The analysis of recorded data from human operation forms the basis of our investigation. Replanning the motions reveals that the human operator does not use the full potential of the machine due to the complexity of the manipulation task. We show that s...