Real-time motion planning for personal robots using primitive motions

Real-time motion planning is one of the most challenging problems for successful employment of personal robots. A motion planning strategy via human commands is proposed. The human commands produce primitive motions which can form complex trajectories in real-time. Proper modifications to the primitive motions can generate trajectories which avoid obstacles. An automatic modification mechanism also can assist the robot to reach a target point quickly. Experimental results are presented to verify the effectiveness of the proposed scheme