58documents trouvés
A space decomposition method for path planning of loop linkages
J.M.PORTA, J.CORTES, L.ROS, F.THOMAS
UPC/CSIC, RIS
Manifestation avec acte : IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego (USA), 29 Octobre - 2 Novembre 2007, pp.1882-1888 , N° 07158
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Abstract
This paper introduces box approximations as a new tool for path planning of closed-loop linkages. Box approximations are finite collections of rectangloids that tightly envelop the robot's free space at a desired resolution. They play a similar role to that of approximate cell decompositions for open-chain robotsthey capture the free-space connectivity in a multi-resolutive fashion and yield rectangloid channels enclosing collision-free pathsbut have the additional property of enforcing the satisfaction of loop closure constraints frequently arising in articulated linkages. We present an efficient technique to compute such approximations and show how resolution-complete path planners can be devised using them. To the authors knowledge, this is the first space-decomposition approach to closed-loop linkage path planning proposed in the literature.
Models for safe and legible manipulator trajectories. D2.1
T.SIMEON, J.CORTES, E.A.SISBOT, M.GHARBI, R.ALAMI
RIS
Rapport de Contrat : Projet Européen PHRIENDS. FP6-045359, Octobre 2007, 14p. , N° 07840
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118806Disassembly path planning for objects with articulated parts
J.CORTES, T.SIMEON
RIS
Manifestation avec acte : IFAC International Workshop on Intelligent Assembly and Disassembly (IAD'07), Alicante (Espagne), 23-25 Mai 2007, pp.34-39 , N° 07022
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Abstract
Sampling-based path planning algorithms are powerful tools for computing disassembly motions. This paper presents a variant of the RRT algorithm particularly devised for the disassembly of objects with articulated parts. Configuration parameters generally play two different roles in this type of problems: some of them are essential for the disassembly task, while others only need to move if they hinder the progress of the disassembly process. The proposed method is based on such a partition of the configuration parameters. Results show a remarkable performance improvement compared to standard path planning techniques.
Molecular disassembly with RRT-like algorithms
J.CORTES, L.JAILLET, T.SIMEON
RIS
Manifestation avec acte : 2007 IEEE International Conference on Robotics and Automation (ICRA'07) , Rome (Italie), 10-14 Avril 2007, pp.3301-3306 , N° 06600
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Abstract
This paper addresses the problem of computing pathways for a ligand to exit from the active site of a protein. Such problem can be formulated as a mechanical disassembly problem for two articulated objects. Its solution requires searching paths in a constrained high-dimensional configurationspace. Indeed, the ligand passageway inside the protein is often extremely cluttered so that current path planning techniques are unable to solve the disassembly problem in reasonable computing time. The techniques presented in this paper are based on the RRT algorithm. First we discuss some simple and general modifications of the basic algorithm that significantly improve its performance. Then we describe a new variant of the planner that treats ligand and protein degrees of freedom separately. This new algorithm outperforms the basic RRT, particularly for very constrained problems, and is able to handle models with hundreds of degrees of freedom.We analyze the effects of each RRT variant via several examples of different complexity. Although discussions and results of this paper focus on molecular models, the ideas behind the algorithms are general and can be applied to path planners for disassembling articulated mechanical parts.
A robotic-based path planning approach for computing large-amplitude motions of flexible molecules
J.CORTES, T.SIMEON
RIS, RIA
Manifestations avec acte à diffusion limitée : 3ème Journées Annuelle "GénoToul" (GénoToul'2006), Toulouse (France), 23 Novembre 2006, pp.58-61 , N° 06787
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108542A space decomposition approach to closed-chain motion planning
J.M.PORTA, J.CORTES, L.ROS, F.THOMAS
UPC/CSIC, RIS, RIA
Rapport LAAS N°06604, Septembre 2006, 8p.
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107803Closed-chain motion planning using C-space box approximations
J.M.PORTA, J.CORTES, L.ROS, T.CREEMERS, F.THOMAS
RIA, UPC/CSIC
Rapport LAAS N°06127, Mars 2006, 16p.
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106097Motion planning algorithms for general closed-chain mechanisms
J.CORTES, T.SIMEON
RIA
Rapport LAAS N°05442, Septembre 2005, 10p.
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104338A path planning approach for computing large-amplitude motions of flexible molecules
J.CORTES, T.SIMEON, V.RUIZ DE ANGULO, D.GUIEYSSE, M.REMAUD-SIMEON, V.TRAN
RIA, UPC, BIOENGINEERING, Biocatalyse
Revue Scientifique : Bioinformatics, Vol.21, N°Supplement 1, pp.i116-i125, 2005 , N° 05020
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103732A path planning approach for computing large-amplitude motions of flexible molecules
J.CORTES, T.SIMEON, V.RUIZ DE ANGULO, D.GUIEYSSE, M.REMAUD-SIMEON, V.TRAN
RIA, UPC, BIOENGINEERING, Biocatalyse
Manifestation avec acte : 13th Annual International Conference on Intelligent Systems for Molecular Biology (ISMB'2005), Détroit (USA), 25-29 Juin 2005 , N° 05020
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