Path Planning and Optimization of Humanoid Manipulator in Cartesian Space|LI Shiqi;LI Xiao;HAN Ke;XIONG Youjun;XIE Zheng;CHEN Jinliang|Ubtech Robotics Co.,Ltd.,Shenzhen 518000,Guangdong,China - 期刊导航|首站-论文投稿智能助手|论文发表|论文智能投稿|期刊自助发表推荐|杂志社快速发表|查同导刊-域田数据官方网站

典型文献

Path Planning and Optimization of Humanoid Manipulator in Cartesian Space

文献摘要：

To solve the problems of low efficiency and multi-solvability of humanoid manipulator Cartesian space path planning in physical human-robot interaction,an improved bi-directional rapidly-exploring random tree algo-rithm based on greedy growth strategy in 3D space is proposed.The workspace of manipulator established based on Monte Carlo method is used as the sampling space of the rapidly-exploring random tree,and the opposite expanding greedy growth strategy is added in the random tree expansion process to improve the path planning efficiency.Then the generated path is reversely optimized to shorten the length of the planned path,and the optimized path is interpolated and pose searched in Cartesian space to form a collision-free optimized path suit-able for humanoid manipulator motion.Finally,the validity and reliability of the algorithm are verified in an intelligent elderly care service scenario based on Walker2,a large humanoid service robot.

文献关键词：

中图分类号：

[1] 医药、卫生（R） / 基础医学（R3） / 病理学（R36） / 病理过程（R364）

[2] 天文学、地球科学（P） / 地球物理学（P3） / 空间物理（P35）

[3] 医药、卫生（R） / 药学（R9） / 药理学（R96） / 实验药理学（R965）

作者姓名：

LI Shiqi;LI Xiao;HAN Ke;XIONG Youjun;XIE Zheng;CHEN Jinliang

作者机构：

School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China;Ubtech Robotics Co.,Ltd.,Shenzhen 518000,Guangdong,China

文献出处：

上海交通大学学报（英文版）

引用格式：

[1]LI Shiqi;LI Xiao;HAN Ke;XIONG Youjun;XIE Zheng;CHEN Jinliang-.Path Planning and Optimization of Humanoid Manipulator in Cartesian Space)[J].上海交通大学学报（英文版）,2022(05):614-620

A类：

Humanoid,Walker2

B类：

Path,Planning,Optimization,Manipulator,Cartesian,Space,To,solve,problems,low,efficiency,multi,solvability,humanoid,manipulator,path,planning,physical,robot,interaction,improved,directional,rapidly,exploring,random,tree,greedy,growth,strategy,proposed,workspace,established,Monte,Carlo,method,used,sampling,opposite,expanding,added,expansion,process,Then,generated,reversely,optimized,shorten,length,planned,interpolated,searched,form,collision,free,suit,able,motion,Finally,validity,reliability,algorithm,verified,intelligent,elderly,care,service,scenario,large

AB值：

0.507488

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