Abstract
Human-like behavior is crucial for intelligent service robots that are to perform versatile tasks in day to day life. In this paper, an integrated approach to human-like manipulation is presented, which addresses realtime three-dimensional (3-D) workspace modeling and accessibility analysis for motion planning. The 3-D workspace modeling uses three main principles: identification of global geometric features, substitution of recognized known objects by corresponding solid models in the database and multi-resolution representation of unknown obstacles as required by the task at hand. Accessibility analysis is done through visibility tests. It complements and accelerates general motion planning. The experimental results demonstrate that the human-like behavior-oriented methods are sufficiently fast and robust to model 3-D workspace, and to plan and execute tasks for robotic manipulative applications.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
