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dc.contributor.authorChuang, Jen-Huien_US
dc.contributor.authorChan, Ting-Weien_US
dc.contributor.authorLin, Chien-Chouen_US
dc.date.accessioned2014-12-08T15:11:38Z-
dc.date.available2014-12-08T15:11:38Z-
dc.date.issued2007en_US
dc.identifier.isbn978-981-270-815-1en_US
dc.identifier.urihttp://hdl.handle.net/11536/8924-
dc.identifier.urihttp://dx.doi.org/10.1142/9789812770189_0062en_US
dc.description.abstractAn algorithm for path planning of object held by multiple manipulators is presented in this paper. The proposed path planning algorithm is composed with two planners: path planner of the object and motion planner of manipulators. Both planners use a generalized potential model to evaluate the repulsion between object/manipulators and obstacles, so as to avoid collision. By adding virtual obstacle planes to roughly divide the workspace into several subspaces, a concurrent approach of path planning is also proposed. With each subspace designated to a manipulator, collisions between manipulators can be avoided. Therefore, paths of all. manipulators can be planned at the same time.en_US
dc.language.isoen_USen_US
dc.titleA CONCURRENT PLANNING ALGORITHM FOR DUAL-ARM SYSTEMSen_US
dc.typeProceedings Paperen_US
dc.identifier.doi10.1142/9789812770189_0062en_US
dc.identifier.journalADVANCES IN CLIMBING AND WALKING ROBOTS, PROCEEDINGSen_US
dc.citation.spage541en_US
dc.citation.epage546en_US
dc.contributor.department資訊工程學系zh_TW
dc.contributor.departmentDepartment of Computer Scienceen_US
dc.identifier.wosnumberWOS:000262071700060-
Appears in Collections:Conferences Paper