single-jc.php

JACIII Vol.10 No.2 pp. 234-240
doi: 10.20965/jaciii.2006.p0234
(2006)

Paper:

Object Reconfiguration with Dextrous Robot Agents

Gábor Vass*, Béla Lantos*, and Shahram Payandeh**

*Department of Control Engineering and Information Technology, Budapest University of Technology and Economics, H-1117 Magyar Tudosok krt. 2, Budapest, Hungary

**Experimental Robotics Laboratory, School of Engineering Science, Simon Fraser University, 8888 University Drive, Burnaby, British Columbia, Canada V5A 1S6

Received:
September 22, 2005
Accepted:
October 28, 2005
Published:
March 20, 2006
Keywords:
robot, object reconfiguration, simulated annealing
Abstract

This paper addresses an object manipulation planning algorithm for dextrous robot systems consisting a multifingered hand and a robotic manipulator. A method has been developed for object reconfiguration design. The result is a new algorithm using artificial intelligence based on simulated annealing and A* search. The upper level of the manipulation system, the global planner generates the motion of the object. The lower level, the local planner deals with the motion of the agents relative to the object and the design of the contact forces. The local planner is based on simulated annealing, thus the the local minima can be avoided in the energy function of the motion with high probability. Application of the algorithm has been discussed for three robot arms.

Cite this article as:
G. Vass, B. Lantos, and S. Payandeh, “Object Reconfiguration with Dextrous Robot Agents,” J. Adv. Comput. Intell. Intell. Inform., Vol.10, No.2, pp. 234-240, 2006.
Data files:
References
  1. [1] N. Ansari, and E. Hou, “Computational intelligence for optimization,” Kluwer Academic Publishers, 1997.
  2. [2] M. Cherif, and K. K. Gupta, “Planning quasi-static motions for re-configuring objects with a multi-fingered robotic hand,” In IEEE International Conference on Robotics and Automation, Vol.4, pp. 986-991, 1997.
  3. [3] L. Han, J. Trinkle, and Z. Li, “Grasp Analysis as Linear Matrix Inequality Problems,” IEEE Transactions on Robotics and Automation, 16(6), pp. 663-674, 2000.
  4. [4] D. Montana, “The Kinematics of Contact and Grasp,” International Journal of Robotics Research, 7(3), pp. 17-31, 1988.
  5. [5] Y. Nesterov, and A. Nemirovsky, “Interior-Point Polynomial Methods in Convex Programming,” SIAM, 1994.
  6. [6] J. Somló, B. Lantos, and P. T. Cat, “Advanced Robot Control,” Akadémiai Kiadó, Budapest, Hungary, 1997.
  7. [7] G. Vass, S. Payandeh, and B. Lantos, “Application of Simulated Annealing for Object Manipulation with Multiple Agents,” In Proceedings of the Second IASTED International Conference, Control and Applications, pp. 566-571, 1999.
  8. [8] G. Vass, S. Payandeh, and B. Lantos, “On Controlled Manipulation of Objects Within Multiple Dexterous Agents,” In Proceedings of the Tenth world congress on the theory of machines and mechanisms, IFToMM, Vol.3, pp. 1103-1108, 1999.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Aug. 09, 2020