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The Capability Map for Robot Arms and Applications

Franziska Zacharias, DLR

Humans have an abstraction of the capabilities of their arms in the workspace, i.e. which regions can be reached from which directions. A similar abstraction for a robot arm is important for grasp planners, path planners and task planners. It can be used to find good goal configurations for a robot arm or help to generate reachable grasps. The capability map, a compact representation of this kinematic reachability and directional structure information is presented. The example of positioning a mobile manipulator for constrained linear trajectories demonstrates the use of the capability map in a planning problem.

Date: 29.05.2009

Time: 15:30 h

Location: Rotunde Cartesium, Enrique-Schmidt-Str. 5, Universität Bremen

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