Publications
2008
Gregor Schöner; Ioannis Iossifidis
Auf gute Zusammenarbeit Journal Article
In: Gerhirn und Geist, Spektrum der Wissenschaft, vol. 3, 2008.
BibTeX | Tags: attractor dynamics approach, collision avoidance, manipulator dynamics, obstacle avoidance, primate central nervous system, redundant robot arm, telerobotics
@article{Schoener2008,
title = {Auf gute Zusammenarbeit},
author = {Gregor Schöner and Ioannis Iossifidis},
year = {2008},
date = {2008-01-01},
journal = {Gerhirn und Geist, Spektrum der Wissenschaft},
volume = {3},
keywords = {attractor dynamics approach, collision avoidance, manipulator dynamics, obstacle avoidance, primate central nervous system, redundant robot arm, telerobotics},
pubstate = {published},
tppubtype = {article}
}
2006
Ioannis Iossifidis; Gregor Schöner; Gregor Schoner
Dynamical Systems Approach for the Autonomous Avoidance of Obstacles and Joint-limits for an Redundant Robot Arm Inproceedings
In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 580–585, IEEE, 2006, ISBN: 1-4244-0258-1.
Abstract | Links | BibTeX | Tags: attractor dynamics approach, collision avoidance, manipulator dynamics, obstacle avoidance, primate central nervous system, redundant robot arm, telerobotics
@inproceedings{Iossifidis2006a,
title = {Dynamical Systems Approach for the Autonomous Avoidance of Obstacles and Joint-limits for an Redundant Robot Arm},
author = {Ioannis Iossifidis and Gregor Schöner and Gregor Schoner},
doi = {10.1109/IROS.2006.282468},
isbn = {1-4244-0258-1},
year = {2006},
date = {2006-10-01},
booktitle = {2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
pages = {580--585},
publisher = {IEEE},
abstract = {We extend the attractor dynamics approach to generate goal-directed movement of a redundant, anthropomorphic arm while avoiding dynamic obstacles and respecting joint limits. To make the robot's movements human-like, we generate approximately straight-line trajectories by using two heading direction angles of the tool-point quite analogously to how movement is represented in the primate central nervous system. Two additional angles control the tool's spatial orientation so that it follows the tool-point's collision-free path. A fifth equation governs the redundancy angle, which controls the elevation of the elbow so as to avoid obstacles and respect joint limits. These variables make it possible to generate movement while sitting in an attractor (or, in the language of the potential field approach, in a minimum). We demonstrate the approach on an assistant robot, which interacts with human users in a shared workspace},
keywords = {attractor dynamics approach, collision avoidance, manipulator dynamics, obstacle avoidance, primate central nervous system, redundant robot arm, telerobotics},
pubstate = {published},
tppubtype = {inproceedings}
}