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Collision-free trajectory generation on assistive robot Neptune

Published: 06 June 2012 Publication History

Abstract

This work demonstrates the integration of existing open source robotics tools to develop a collision free trajectory generation system for assistive environments and evaluates its performance. Trajectory generation and obstacle avoidance abilities were applied in the Neptune assistive robot developed in our lab. Such abilities are essential for safe operation of the robot in an assistive living environment. The Robot Operating System (ROS) is used as the software framework within which collision-free algorithms are executed. Prior to deploying the code on the Neptune hardware, the kinematics was modeled and simulated. Furthermore, a Kinect sensor was used to gain information about the environment and detect obstacles. Experiments were then performed on the robotic system to demonstrate the obstacle avoidance behavior during trajectory generation between randomly generated and selected end effector poses.

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  1. Collision-free trajectory generation on assistive robot Neptune

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    PETRA '12: Proceedings of the 5th International Conference on PErvasive Technologies Related to Assistive Environments
    June 2012
    307 pages
    ISBN:9781450313001
    DOI:10.1145/2413097
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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    • U of Tex at Arlington: U of Tex at Arlington

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    Association for Computing Machinery

    New York, NY, United States

    Publication History

    Published: 06 June 2012

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    Author Tags

    1. ROS
    2. interfaces
    3. mobile manipulator
    4. trajectory generation

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