Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Haptic Guidance: Experimental Evaluation of a Haptic Training Method for a Perceptual Motor Skill
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
AVirtual Reality Toolkit for Path Planning and Manipulation at Nano-scale
VR '06 Proceedings of the IEEE conference on Virtual Reality
On the Probabilistic Foundations of Probabilistic Roadmap Planning
International Journal of Robotics Research
A General Deterministic Sequence for Sampling d-Dimensional Configuration Spaces
Journal of Intelligent and Robotic Systems
A modular haptic rendering algorithm for stable and transparent 6-DOF manipulation
IEEE Transactions on Robotics
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Haptic devices allow a user to feel either reaction forces from virtual interactions or reaction forces reflected from a remote site during a bilateral teleoperation task. Also, guiding forces can be exerted to train the user in the performance of a virtual task or to assist him/her to safely teleoperate a robot. The generation of guiding forces relies on the existence of a motion plan that provides the direction to be followed to reach the goal from any free configuration of the configuration space ( ${\mathcal C}$ -space). This paper proposes a method to obtain such a plan that interleaves a sampling-based exploration of ${\mathcal C}$ -space with an efficient computation of harmonic functions. A deterministic sampling sequence (with a bias based on harmonic function values) is used to obtain a hierarchical cell decomposition model of ${\mathcal C}$ -space. A harmonic function is iteratively computed over the partially known model using a novel approach. The harmonic function is the navigation function used as motion plan. The approach has been implemented in a planner (called the Kautham planner) that, given an initial and a goal configuration, provides: (a) a channel of cells connecting the cell that contains the initial configuration with the cell that contains the goal configuration; (b) two harmonic functions over the whole ${\mathcal C}$ -space, one that guides motions towards the channel and another that guides motions within the channel towards the goal; and (c) a path computed over a roadmap built with the free samples of the channel. The harmonic functions and the solution path are then used to generate the guiding forces for the haptic device. The planning approach is illustrated with examples on 2D and 3D workspaces.