Planning Practical Paths for Tentacle Robots

Jing Yang, Robert Codd-Downey, Patrick Dymond, Junquan Xu, Michael Jenkin

2013

Abstract

Robots with many degrees of freedom with one fixed end are known as tentacle robots due to their similarity to the tentacles found on squid and octopus. Tentacle robots offer advantages over traditional robots in many scenarios due to their enhanced flexibility and reachability. Planning practical paths for these devices is challenging due to their high degrees of freedom (DOFs). Sampling-based path planners are a commonly used approach for high DOF planning problems but the solutions found using such planners are often not practical in that they do not take into account soft application-specific constraints during the planning process. This paper describes a general sample adjustment method for tentacle robots, which adjusts the randomly generated nodes within their local neighborhood to satisfy soft constraints required by the problem. The approach is demonstrated on a planar tentacle robot composed of ten Robotis Dynamixel AX-12 servos.

Paper Citation

in Harvard Style

Yang J., Codd-Downey R., Dymond P., Xu J. and Jenkin M. (2013). Planning Practical Paths for Tentacle Robots . In Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-8565-38-9, pages 128-137. DOI: 10.5220/0004263501280137

in Bibtex Style

@conference{icaart13,
author={Jing Yang and Robert Codd-Downey and Patrick Dymond and Junquan Xu and Michael Jenkin},
title={Planning Practical Paths for Tentacle Robots},
booktitle={Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2013},
pages={128-137},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004263501280137},
isbn={978-989-8565-38-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - Planning Practical Paths for Tentacle Robots
SN - 978-989-8565-38-9
AU - Yang J.
AU - Codd-Downey R.
AU - Dymond P.
AU - Xu J.
AU - Jenkin M.
PY - 2013
SP - 128
EP - 137
DO - 10.5220/0004263501280137