Open document
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General information |
| Author |
Medina, Oded; Taitz, Ariel; Moshe, Boaz Ben; Shvalb, Nir |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
Exact motion planning for hyper‐redundant
robots under complex constraints is computationally
intractable. This paper does not deal with the
optimization of motion planning algorithms, but rather
with the simplification of the configuration space
presented to the algorithms. We aim to reduce the
configuration space so that the robot’s embedded motion
planning system will be able to store and access an
otherwise immense data file. We use a n‐DCT
compression algorithm together with a Genetic based
compression algorithm, in order to reduce the complexity
of motion planning computations and reduce the need for
memory. We exemplify our algorithm on a hyperredundant
worm‐like climbing robot with six degrees of
freedom (DOF). |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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