Toward human-like real-time manipulation: From perception to motion planning

Sukhan Lee, Hadi Moradi, Daesik Jang, Hanyoung Jang, Eunyoung Kim, Phuoc Minh Le, Jeonghyun Seo, Junghyun Han

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


Human-like behavior is crucial for intelligent service robots that are to perform versatile tasks in day to day life. In this paper, an integrated approach to human-like manipulation is presented, which addresses realtime three-dimensional (3-D) workspace modeling and accessibility analysis for motion planning. The 3-D workspace modeling uses three main principles: identification of global geometric features, substitution of recognized known objects by corresponding solid models in the database and multi-resolution representation of unknown obstacles as required by the task at hand. Accessibility analysis is done through visibility tests. It complements and accelerates general motion planning. The experimental results demonstrate that the human-like behavior-oriented methods are sufficiently fast and robust to model 3-D workspace, and to plan and execute tasks for robotic manipulative applications.

Original languageEnglish
Pages (from-to)983-1005
Number of pages23
JournalAdvanced Robotics
Issue number9
Publication statusPublished - 2008 Sept 1

Bibliographical note

Funding Information:
This work was performed for the 21st Century Frontier R&D Programs funded by the Ministry of Science and Technology of Korea. This work was also supported by MIC, Korea under ITRC IITA-2006-(C1090-0603-0046).


  • Motion planning
  • Multi-resolution modeling
  • Object manipulation
  • Service robot
  • Workspace modeling

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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