Title :
Very fast motion planning for dexterous robots
Author :
Challou, Daniel ; Gini, Maria ; Kumar, Vipin ; Olson, Curtis
Author_Institution :
Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
Abstract :
The authors show that paths for dexterous robots can be generated in a few seconds or less using parallel informed randomized search on multicomputers. The experimental results the authors present have been obtained for a simulated 7-jointed arm operating in realistic 3D workspaces. The authors also present a new method for predicting the solution times that their parallel formulation can deliver on increasing numbers of processors
Keywords :
manipulators; parallel algorithms; path planning; search problems; 3D workspaces; dexterous robots; motion planning; parallel informed randomized search; simulated 7-jointed arm; Concurrent computing; Contracts; High performance computing; Manufacturing; Motion control; Motion planning; Orbital robotics; Partitioning algorithms; Path planning; Robots;
Conference_Titel :
Assembly and Task Planning, 1995. Proceedings., IEEE International Symposium on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-6995-0
DOI :
10.1109/ISATP.1995.518771
