Abstract— Service robots which directly interact with humans in highly unstructured, unpredictable and dynamic environments must be able to flexibly adapt their motion in reacti...
— In this paper we present a heuristic approach to planning in an environment with moving obstacles. Our approach assumes that the robot has no knowledge of the future trajectory...
Abstract— Trajectory planning and optimization is a fundamental problem in articulated robotics. It is often viewed as a two phase problem of initial feasible path planning aroun...
— Autonomous service robots have to recognize and interpret their environment to be able to interact with it. This paper will focus on service tasks such as serving a glass of wa...
Franziska Zacharias, Christoph Borst, Gerd Hirzing...
— The reduction of the kinematics and/or dynamics of a high-DOF robotic manipulator to a low-dimension “task space” has proven to be an invaluable tool for designing feedback...