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Article: Haptic-aided robot path planning based on virtual tele-operation

TitleHaptic-aided robot path planning based on virtual tele-operation
Authors
KeywordsHaptic
Robot Path Planning
Virtual Tele-Operation
Issue Date2009
PublisherPergamon. The Journal's web site is located at http://www.elsevier.com/locate/rcim
Citation
Robotics And Computer-Integrated Manufacturing, 2009, v. 25 n. 4-5, p. 792-803 How to Cite?
AbstractThe motivation of this work arises from the fact that it is very difficult for an automatic path planning method, e.g. probabilistic roadmap (PRM) to generate an optimized path, and sometimes it even fails for an automatic method to find a collision-free path, due to failure of discovering critical robot configurations. However, these critical configurations might be plain to an operator. Therefore, the advantages of human's intuition are exploited to facilitate the robot path planning process in this research. The objective of this paper is to combine the advantages of human's intuition or experiences and the huge computational power of computers to develop a semi-automatic robot path planner that can generate an user-preferred collision-free robot path. In the path planning process, the user interaction is made easy by the development of a haptically controlled virtual robot. By virtual tele-robot manipulation, a user can define or modify critical robot configurations based on which collision-free robot path can be automatically generated. © 2008 Elsevier Ltd. All rights reserved.
Persistent Identifierhttp://hdl.handle.net/10722/156999
ISSN
2015 Impact Factor: 2.077
2015 SCImago Journal Rankings: 1.621
ISI Accession Number ID
Funding AgencyGrant Number
Hong Kong Research Grants CouncilHKU 7116/05E
Funding Information:

This research is supported by a grant from Hong Kong Research Grants Council under the Code HKU 7116/05E.

References
Grants

 

DC FieldValueLanguage
dc.contributor.authorHe, Xen_US
dc.contributor.authorChen, Yen_US
dc.date.accessioned2012-08-08T08:44:53Z-
dc.date.available2012-08-08T08:44:53Z-
dc.date.issued2009en_US
dc.identifier.citationRobotics And Computer-Integrated Manufacturing, 2009, v. 25 n. 4-5, p. 792-803en_US
dc.identifier.issn0736-5845en_US
dc.identifier.urihttp://hdl.handle.net/10722/156999-
dc.description.abstractThe motivation of this work arises from the fact that it is very difficult for an automatic path planning method, e.g. probabilistic roadmap (PRM) to generate an optimized path, and sometimes it even fails for an automatic method to find a collision-free path, due to failure of discovering critical robot configurations. However, these critical configurations might be plain to an operator. Therefore, the advantages of human's intuition are exploited to facilitate the robot path planning process in this research. The objective of this paper is to combine the advantages of human's intuition or experiences and the huge computational power of computers to develop a semi-automatic robot path planner that can generate an user-preferred collision-free robot path. In the path planning process, the user interaction is made easy by the development of a haptically controlled virtual robot. By virtual tele-robot manipulation, a user can define or modify critical robot configurations based on which collision-free robot path can be automatically generated. © 2008 Elsevier Ltd. All rights reserved.en_US
dc.languageengen_US
dc.publisherPergamon. The Journal's web site is located at http://www.elsevier.com/locate/rcimen_US
dc.relation.ispartofRobotics and Computer-Integrated Manufacturingen_US
dc.subjectHapticen_US
dc.subjectRobot Path Planningen_US
dc.subjectVirtual Tele-Operationen_US
dc.titleHaptic-aided robot path planning based on virtual tele-operationen_US
dc.typeArticleen_US
dc.identifier.emailChen, Y:yhchen@hkucc.hku.hken_US
dc.identifier.authorityChen, Y=rp00099en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.doi10.1016/j.rcim.2008.12.002en_US
dc.identifier.scopuseid_2-s2.0-63449118584en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-63449118584&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume25en_US
dc.identifier.issue4-5en_US
dc.identifier.spage792en_US
dc.identifier.epage803en_US
dc.identifier.eissn1879-2537-
dc.identifier.isiWOS:000265807600010-
dc.publisher.placeUnited Kingdomen_US
dc.relation.projectInteractive Haptic Shape Modeling of Heterogeneous Objects-
dc.identifier.scopusauthoridHe, X=24536700300en_US
dc.identifier.scopusauthoridChen, Y=7601430448en_US
dc.identifier.citeulike5316418-

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