TY - JOUR
T1 - Enhanced Dexterity Maps (EDM)
T2 - A New Map for Manipulator Capability Analysis
AU - Yao, Haowen
AU - Laha, Riddhiman
AU - Figueredo, Luis F.C.
AU - Haddadin, Sami
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2024/2/1
Y1 - 2024/2/1
N2 - The ability of a manipulator to compute a geometry-aware quality index for general tasks with different joint configurations is essential. Such workspace assessment is a well-known and studied field in existing robotics literature, often deployed through embodied structures such as voxelized maps. Notwithstanding, existing literature solely focuses on the assessment of a single pose (end-effector), neglecting the whole-body structure and its dexterity, which allows for secondary task optimization, nullspace motion, body placement, and improved manipulability. The proposed enhanced dexterity maps (EDM) aims to close these gaps using an augmented data structure. It offers a systematic analysis of disjoint flip solutions and accommodates additional performance metrics. Further analysis of EDMs through case studies highlight the limitations of existing methods and supports the need for a whole-body analysis.
AB - The ability of a manipulator to compute a geometry-aware quality index for general tasks with different joint configurations is essential. Such workspace assessment is a well-known and studied field in existing robotics literature, often deployed through embodied structures such as voxelized maps. Notwithstanding, existing literature solely focuses on the assessment of a single pose (end-effector), neglecting the whole-body structure and its dexterity, which allows for secondary task optimization, nullspace motion, body placement, and improved manipulability. The proposed enhanced dexterity maps (EDM) aims to close these gaps using an augmented data structure. It offers a systematic analysis of disjoint flip solutions and accommodates additional performance metrics. Further analysis of EDMs through case studies highlight the limitations of existing methods and supports the need for a whole-body analysis.
KW - Kinematics
KW - manipulation planning
KW - motion and path planning
KW - redundant robots
UR - http://www.scopus.com/inward/record.url?scp=85181579362&partnerID=8YFLogxK
U2 - 10.1109/LRA.2023.3345695
DO - 10.1109/LRA.2023.3345695
M3 - Article
AN - SCOPUS:85181579362
SN - 2377-3766
VL - 9
SP - 1628
EP - 1635
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 2
ER -