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In this book, the capability map, a novel general representation of the kinematic capabilities of a robot arm, is introduced. The capability map allows to determine how well regions of the workspace are reachable for the end effector in different orientations. It is a representation that can be machine processed as well as intuitively visualized for the human. The capability map and the derived algorithms are a valuable source of information for high- and low-level planning processes. The versatile applicability of the capability map is shown by examples from several distinct application domains. In human-robot interaction, a bi-manual interface for tele-operation is objectively evaluated. In low-level geometric planning, more human-like motion is planned for a humanoid robot while also reducing the computation time. And in high-level task reasoning, the suitability of a robot for a task is evaluated.
Produkteigenschaften
- Artikelnummer: 9783642251818
- Medium: Buch
- ISBN: 978-3-642-25181-8
- Verlag: Springer
- Erscheinungstermin: 13.01.2012
- Sprache(n): Englisch
- Auflage: 1. Auflage 2012
- Serie: Cognitive Systems Monographs
- Produktform: Gebunden, HC gerader Rücken kaschiert
- Gewicht: 412 g
- Seiten: 148
- Format (B x H x T): 160 x 241 x 12 mm
- Ausgabetyp: Kein, Unbekannt