Sensor-based whole-arm obstacle avoidance for unstructured environments
Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER&WM) Program. Typical industrial applications of robotics involve well-defined workspaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. However, many hazardous environments are unstructured or poorly defined, providing a significant potential for collisions between manipulators and the environment. In order to allow applications of robotics in such situations, a sensing system is under development which will provide protection against collisions. Specifics of this system including system architecture and projected implementation are described.
- Research Organization:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 10184868
- Report Number(s):
- CONF-9210168-1; ON: DE92041265
- Resource Relation:
- Conference: 1992 American Nuclear Society (ANS) international conference,Chicago, IL (United States),15-20 Oct 1992; Other Information: PBD: [1992]
- Country of Publication:
- United States
- Language:
- English
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