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2008
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A line-based obstacle avoidance technique for dexterous manipulator operations

8 years 10 months ago
A line-based obstacle avoidance technique for dexterous manipulator operations
Title of thesis: A LINE-BASED OBSTACLE AVOIDANCE TECHNIQUE FOR DEXTEROUS MANIPULATOR OPERATIONS Nicholas Anthony Scott Master of Science, 2007 Thesis directed by: Craig Carignan Department of Aerospace Engineering Both autonomous and teleoperated tasks with a dexterous manipulator often use cameras for external sensing. For teleoperated tasks, an array of cameras is typically used to provide the operator with multiple two-dimensional views of the manipulator workspace. For autonomous operations, cameras are used for visual servoing or to produce a map of the environment in the manipulator workspace. Nominal operations will likely produce manipulator configurations that occlude the line of sight from the camera to a target of interest. One possible approach is to treat the camera line of sight as a virtual obstacle to prevent camera occlusion. This approach is demonstrated on the Ranger dexterous manipulator for a variety of task configurations. Extension of this approach to non-redu...
Nicholas A. Scott, Craig R. Carignan
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where ICRA
Authors Nicholas A. Scott, Craig R. Carignan
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