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Haptic Primitives Guidance Based on the Kautham Path Planner
Vázquez Hurtado, Carlos; Rosell Gratacòs, Jan; Chirinos, Luis; Domínguez, Omar
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Robòtica Industrial i Servei
Path planning methods are well suited to automatically perform robotic tasks; haptic guidance is a powerful tool for disabled people rehabilitation, sports training, handcraft skills acquiring and such kind of enactive tasks. This paper proposes a novel an efficient method to accomplish guided movements by efficiently combing path planning methods and haptic guidance. The main contribution of this paper is the development of a reliable method to haptically guide the user within a virtual robotic task, by means of: on-line, collision free, path planning generated trajectories. To accomplish haptic guidance three stages must be correctly done: the first one where the user selects the desired objects and obstacles within a virtual environment to set up the task, the second one, where a path planner looks for the task trajectory and, the third one, where the user is constrained to on-line generated local channels and solution paths that offer a reliable path guidance system to achieve the task movements.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robòtica -- Congressos
Attribution-NonCommercial-NoDerivs 3.0 Spain

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