OATAO - Open Archive Toulouse Archive Ouverte Open Access Week

Tuning Interaction in Motion Planning with Contact

Blin, Nassime and Taïx, Michel and Fillatreau, Philippe and Fourquet, Jean-Yves Tuning Interaction in Motion Planning with Contact. (2016) In: 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 26 August 2016 - 31 August 2016 (New-York, United States).

(Document in English)

PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader

Official URL: https://doi.org/10.1109/ROMAN.2016.7745231


This work deals with planning processes for the assistance to manipulation in order to simulate industrial tasks such as assembly, maintenance or disassembly in Virtual Reality. This paper presents a novel interactive path planning algorithm with contact based on an BiRRT approach. First, we propose a real-time interactive planner where both a computer and a human operator simultaneously search the workspace therefore largely speeding up the process. An authority sharing parameter can control the autonomy of the computer. Then we present a novel contact-space algorithm able to sample on the surface of obstacles. This method helps finding paths in cluttered environments or solving specific contact tasks such as insertion or sliding operations. We finish by presenting the results of our interactive path planner with contact through three examples showing significant improvement over usual methods in both free and contact space.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to the IEEE (Institute of Electrical and Electronics Engineers). This paper is available at : https://ieeexplore.ieee.org/document/7745231 “© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Laboratory name:
Deposited On:09 Dec 2019 14:12

Repository Staff Only: item control page