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Optimized vision-based robot motion planning from multiple demonstrations

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Abstract

This paper combines workspace models with optimization techniques to simultaneously address whole-arm collision avoidance, joint limits and camera field of view (FOV) limits for vision-based motion planning of a robot manipulator. A small number of user demonstrations are used to generate a feasible domain over which the whole robot arm can servo without violating joint limits or colliding with obstacles. Our algorithm utilizes these demonstrations to generate new feasible trajectories that keep the target in the camera’s FOV and achieve the desired view of the target (e.g., a pre-grasping location) in new, undemonstrated locations. To fulfill these requirements, a set of control points are selected within the feasible domain. Camera trajectories that traverse these control points are modeled and optimized using either quintic splines (for fast computation) or general polynomials (for better constraint satisfaction). Experiments with a seven degree of freedom articulated arm validate the proposed scheme.

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Acknowledgements

This work is supported by Hunan Provincial Natural Science Foundation of China under Grant 2017JJ3211 and Scientific Research Fund of Hunan Provincial Education Department under Grant 17B161.

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Authors and Affiliations

  1. School of Information Science and Engineering, Central South University, Changsha, P. R. China

    Tiantian Shen

  2. Department of Electronic Information Engineering, College of Polytechnic, Hunan Normal University, Changsha, P. R. China

    Tiantian Shen

  3. CARIS Lab, Department of Mechanical Engineering, University of British Columbia, Vancouver, Canada

    Sina Radmard, Ambrose Chan & Elizabeth A. Croft

  4. Department of Electrical and Electronic Engineering, The University of Hong Kong, Pokfulam Road, Hong Kong, Hong Kong S.A.R.

    Graziano Chesi

Authors
  1. Tiantian Shen
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  2. Sina Radmard
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  3. Ambrose Chan
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  4. Elizabeth A. Croft
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  5. Graziano Chesi
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Corresponding author

Correspondence to Tiantian Shen.

Additional information

Portions of this paper were submitted to the 2013 IEEE-IROS Shen et al. 2013.

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Shen, T., Radmard, S., Chan, A. et al. Optimized vision-based robot motion planning from multiple demonstrations. Auton Robot 42, 1117–1132 (2018). https://doi.org/10.1007/s10514-017-9667-4

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