비정돈 환경의 표면 소독을 위한 실현성 예측 기반의 장애물 제거 계획법 및 접촉식 방역 로봇 시스템
KCI
- Title
- 비정돈 환경의 표면 소독을 위한 실현성 예측 기반의 장애물 제거 계획법 및 접촉식 방역 로봇 시스템
- Authors
- 강준수; 이인제; 정완균; 김기훈
- Date Issued
- 2021-09
- Publisher
- 한국로봇학회
- Abstract
- We propose a task and motion planning algorithm for clearing obstacles and wiping surfaces, which is essential for surface disinfection during the pathogen disinfection process. The proposed task and motion planning algorithm determines task parameters such as grasping pose and placement location during the planning process without using pre-specified or discretized values.
Furthermore, to quickly inspect many unit motions, we propose a motion feasibility prediction algorithm consisting of collision checking and an SVM model for inverse mechanics and self-collision prediction.
Planning time analysis shows that the feasibility prediction algorithm can significantly increase the planning speed and success rates in situations with multiple obstacles. Finally, we implemented a hierarchical control scheme to enable wiping motion while following a planner-generated joint trajectory. We verified our planning and control framework by conducted an obstacle-clearing and surface wiping experiment in a simulated disinfection environment.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/107484
- DOI
- 10.7746/jkros.2021.16.3.283
- ISSN
- 1975-6291
- Article Type
- Article
- Citation
- 로봇학회 논문지, vol. 16, no. 3, page. 283 - 290, 2021-09
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