Uploaded April 2020 | Updated September 2026, 8 hours 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.
For more information please see our project's website: mw.tum.de/en/am/research/current-projects/robotics/real-time-motion-planning-for-manipulators
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.
For more information please see our project's website: mw.tum.de/en/am/research/current-projects/robotics/real-time-motion-planning-for-manipulators
