Class #3: Configuration Space of a Robot


The 3 drawings on the left shows two representations of the configuration space of a 2-revolute-joint arm: a torus and a square. The drawings on the right illustrate the mapping of workspace obstacles into the configuration space.

  • Topics:
    - Notion of a robot configuration and configuration space
    - Parameterizations of a configuration
    - Notion of a path and a trajectory
    - Obstacle mapping

    - Other types of forbidden regions
    - Topological structure of configuration space
  • Required Readings:
    • Chapter 3: Configuration Space, from Principles of Robot Motion, by H. Choset et al., MIT Press, 2004

  • Slides