Capturing robot workspace structure: representing robot capabilities

• Published in: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 3229 - 3236
• Main Authors: Zacharias, F., Borst, C., Hirzinger, G.
• Format: Conference Proceeding
• Language: English; Japanese
• Published: IEEE 01.10.2007
• Subjects: Design optimization; Humanoid robots; Humans; Intelligent robots; Kinematics; Layout; Manipulator dynamics; Robotic assembly; USA Councils; Visualization

Humans have at some point learned an abstraction of the capabilities of their arms. By just looking at the scene they can decide which places or objects they can easily reach and which are difficult to approach. Possessing a similar abstraction of a robot arm's capabilities in its workspace is...