ICRA 2011 Paper Abstract


Paper ThP201.6

Enes, Aaron (Georgia Institute of Technology), Book, Wayne (Georgia Institute of Technology)

Recursive Algorithm for Motion Primitive Estimation

Scheduled for presentation during the Regular Sessions "Motion Control of Manipulators" (ThP201), Thursday, May 12, 2011, 16:40−16:55, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Motion Control of Manipulators, Teleoperation, Industrial Robots


The need for knowing future manipulator motion arises in several robotics applications, including notification or avoidance of imminent collisions and real-time optimization of velocity commands. This paper presents a real-time, low overhead algorithm for identification of future manipulator motions, based on measurements of prior motions and the instantaneous sensed actuator velocity commanded by an operator. Experimental results with a human-controlled, two joint manipulator demonstrate the ability to quickly learn and accurately estimate future manipulator motions.



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