The Kautham Project: A teaching and research tool for robot motion planning

dc.contributorGrupo de Investigación Ecitrónica
dc.creatorPérez Ruíz, Alexander
dc.creatorRosell, Jan
dc.creatorAkbari, Aliakbar
dc.creatorPalomo-Avellaneda, Leopold
dc.creatorGarcía, Néstor
dc.creatorhttps://orcid.org/0000-0001-6214-1077
dc.date.accessioned2023-05-09T16:58:08Z
dc.date.accessioned2023-09-06T21:17:12Z
dc.date.available2023-05-09T16:58:08Z
dc.date.available2023-09-06T21:17:12Z
dc.date.created2023-05-09T16:58:08Z
dc.date.issued2014
dc.identifier0921-0296
dc.identifierhttps://repositorio.escuelaing.edu.co/handle/001/2307
dc.identifierhttps://doi.org/10.1109/ETFA.2014.7005143
dc.identifier1573-0409
dc.identifierhttps://ieeexplore.ieee.org/document/7005143
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/8707284
dc.description.abstractThis paper presents the software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, being a generic robot defined as a kinematic tree with a mobile base, i.e. the tool can plan and simulate from simple two degrees of freedom free-flying robots to multi-robot scenarios with mobile manipulators equipped with anthropomorphic hands. The main core of planners is provided by the Open Motion Planning Library (OMPL). Different basic planners can be flexibly used and parameterized, allowing students to gain insight into the different planning algorithms. Among the advanced features the tool allows to easily define the coupling between degrees of freedom, the dynamic simulation and the integration with task planers. It is principally being used in the research of motion planning strategies for hand-arm robotic systems.
dc.description.abstractEn este trabajo se presenta la herramienta software utilizada en el Instituto de Ingeniería Industrial y de Control (IOC-UPC) para la docencia e investigación en planificación de movimiento de robots. La herramienta permite afrontar problemas con uno o más robots, siendo un robot genérico definido como un árbol cinemático con una base móvil, es decir, la herramienta puede planificar y simular desde simples robots de dos grados de libertad en vuelo libre hasta escenarios multi-robot con manipuladores móviles equipados con manos antropomórficas. El núcleo principal de planificadores lo proporciona la Open Motion Planning Library (OMPL). Los diferentes planificadores básicos pueden utilizarse y parametrizarse de forma flexible, lo que permite a los estudiantes conocer los diferentes algoritmos de planificación. Entre las funciones avanzadas, la herramienta permite definir fácilmente el acoplamiento entre grados de libertad, la simulación dinámica y la integración con planificadores de tareas. Se utiliza principalmente en la investigación de estrategias de planificación de movimientos para sistemas robóticos mano-brazo.
dc.languageeng
dc.publisherEspaña
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dc.rightshttps://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.rightsAtribución-NoComercial-SinDerivadas 4.0 Internacional (CC BY-NC-ND 4.0)
dc.sourcehttps://ieeexplore.ieee.org/document/7005143
dc.titleThe Kautham Project: A teaching and research tool for robot motion planning
dc.typeArtículo de revista


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