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Whole arm manipulation planning based on feedback velocity fields and sampling-based techniques.

B Talaei1, F Abdollahi, H A Talebi

  • 1Electrical and Computer Engineering Department, Missouri University of Science and Technology, 1870 Miner Circle, Rolla, MO 65409, USA. behzad.talaei@aut.ac.ir

ISA Transactions
|May 25, 2013
PubMed
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This study introduces a feedback manipulation planning algorithm to prevent jamming in cooperative whole arm manipulators. The method effectively avoids jamming and obstacles during object enclosure tasks.

Area of Science:

  • Robotics
  • Control Systems
  • Artificial Intelligence

Background:

  • Cooperative whole arm manipulation presents challenges in reconfiguring during object enclosure due to jamming risks from kinematic constraints.
  • Existing methods often struggle to manage the complex interplay between manipulator configuration and object motion.

Purpose of the Study:

  • To develop a novel feedback manipulation planning algorithm that accounts for grasp kinematics to mitigate jamming.
  • To integrate obstacle avoidance into the planning process for robust robotic manipulation.

Main Methods:

  • A vector field-based approach is proposed to introduce perturbations in object motion along manipulator redundant directions, reducing jamming risk.
  • Sampling-based techniques are combined with the feedback algorithm to address the obstacle avoidance problem.
Keywords:
JammingObstacle avoidanceSampling-based planning techniquesVelocity fieldWhole arm manipulation

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Last Updated: May 11, 2026

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Main Results:

  • Experimental results demonstrate the algorithm's effectiveness in preventing jamming for a 6-DOF dual arm whole arm manipulator.
  • The integrated approach successfully navigates environments with obstacles while maintaining stable object enclosure.

Conclusions:

  • The proposed feedback manipulation planning algorithm offers a robust solution for cooperative whole arm manipulation tasks.
  • This work advances the field of robotic manipulation by providing a method to overcome kinematic constraints and ensure successful object enclosure.