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A modular and sensor-oriented motion planner

Published online by Cambridge University Press:  01 January 1999

J. Luthiger  and
E. Burdet
J. Luthiger
Affiliation:
Institute of Robotics, ETH-Zurich, Switzerland
E. Burdet
Affiliation:
School of Kinesiology, Simon Fraser University, B.C. (Canada). E-mail: luthiger@isoe.ch, e.burdet@ieee.org: WWW: www.isoe.ch, www.sfu.ca/[lap ]eburdet/
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Abstract

The motion planner presented in this paper enables the user to design movements in an interactive way, and to integrate sensor signals efficiently. In addition to the usual movements bound to a path, which can now be combined like lego pieces, smooth and fast reactions to arbitrary changes of the target are also provided. This motion planner opens new possibilities for flexible and sensor-oriented robotics, as examples from its implementation on two robots show.

Keywords

Motion plannerSensor signalsFlexible roboticsModularity
Type
Research Article
Information
Robotica , Volume 17 , Issue 1 , January 1999 , pp. 87 - 95
Copyright
© 1999 Cambridge University Press

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