Uploaded September 2020 | Updated September 2026, 1 day ago
This video shows the application of our real-time capable motion planning framework in a human-centered environment. A FRANKA EMIKA Panda robot is used in a Pick-and-Place scenario with human disturbances and dynamic obstacles. The framework has implemented a new Obstacle-related Sampling Rejection Probabilistic Roadmap planner that represents the free workspace in an efficient way. During online motion queries, dynamic obstacles can be avoided in real-time using an attractor-based online trajectory generation. The resulting motions satisfy kinematic and dynamic joint limits.
The work was presented at the International Symposium on Robot and Human Interactive Communication (RO-MAN) 2020, http://ro-man2020.unina.it/.
This video shows the application of our real-time capable motion planning framework in a human-centered environment. A FRANKA EMIKA Panda robot is used in a Pick-and-Place scenario with human disturbances and dynamic obstacles. The framework has implemented a new Obstacle-related Sampling Rejection Probabilistic Roadmap planner that represents the free workspace in an efficient way. During online motion queries, dynamic obstacles can be avoided in real-time using an attractor-based online trajectory generation. The resulting motions satisfy kinematic and dynamic joint limits.
The work was presented at the International Symposium on Robot and Human Interactive Communication (RO-MAN) 2020, http://ro-man2020.unina.it/.
