{"_id":"weXdCQcCSgQSz92Pn","bibbaseid":"khatib-realtimeobstacleavoidanceformanipulatorsandmobilerobots-1985","downloads":0,"creationDate":"2017-09-14T16:34:36.632Z","title":"Real-time obstacle avoidance for manipulators and mobile robots","author_short":["Khatib, O."],"year":1985,"bibtype":"inproceedings","biburl":"https://raw.githubusercontent.com/jfslin/jfslin.github.io/master/jf2lin.bib","bibdata":{"bibtype":"inproceedings","type":"inproceedings","author":[{"propositions":[],"lastnames":["Khatib"],"firstnames":["O."],"suffixes":[]}],"title":"Real-time obstacle avoidance for manipulators and mobile robots","booktitle":"Proceedings of the IEEE International Conference on Robotics and Automation","year":"1985","pages":"500--505","abstract":"This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the \"artificial potential field\" concept. In this approach, collision avoidance, traditionally considered a high level planning problem, can be effectively distributed between different levels of control, allowing real-time robot operations in a complex environment. We have applied this obstacle avoidance scheme to robot arm using a new approach to the general problem of real-time manipulator control. We reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation. This method has been implemented in the COSMOS system for a PUMA 560 robot. Using visual sensing, real-time collision avoidance demonstrations on moving obstacles have been performed.","doi":"10.1109/ROBOT.1985.1087247","groups":"EMBC2013","timestamp":"2012.02.13","bibtex":"@InProceedings{Khatib1985,\n author = {Khatib, O.},\n title = {Real-time obstacle avoidance for manipulators and mobile robots},\n booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},\n year = {1985},\n pages = {500--505},\n abstract = { This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the \"artificial potential field\" concept. In this approach, collision avoidance, traditionally considered a high level planning problem, can be effectively distributed between different levels of control, allowing real-time robot operations in a complex environment. We have applied this obstacle avoidance scheme to robot arm using a new approach to the general problem of real-time manipulator control. We reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation. This method has been implemented in the COSMOS system for a PUMA 560 robot. Using visual sensing, real-time collision avoidance demonstrations on moving obstacles have been performed.},\n doi = {10.1109/ROBOT.1985.1087247},\n groups = {EMBC2013},\n timestamp = {2012.02.13},\n}\n\n","author_short":["Khatib, O."],"key":"Khatib1985","id":"Khatib1985","bibbaseid":"khatib-realtimeobstacleavoidanceformanipulatorsandmobilerobots-1985","role":"author","urls":{},"downloads":0},"search_terms":["real","time","obstacle","avoidance","manipulators","mobile","robots","khatib"],"keywords":[],"authorIDs":[],"dataSources":["iCsmKnycRmHPxmhBd"]}