Capturing robot workspace structure: representing robot capabilities

By Franziska Zacharias, C. Borst, G. Hirzinger. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007

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Making planned paths look more human-like in humanoid robot manipulation planning (2011, methodology): “The spheres are colored with respect to their reachability index D [13] which is the percentage of points on the sphere that are reachable.”
Mightability maps: A perceptual level decisional framework for co-operative and competitive human-robot interaction (2010, background): “In [5], the kinematic reachability and directional structure for the robot arm has been generated.”
Autonomous online generation of a motor representation of the workspace for intelligent whole-body reaching (2014, methodology): “A richer description of the robot workspace is provided in [26], where reachable points in space are ranked by their reachability, a measure indicating the number of possible approaching directions for the arm (note that the definition of reachability in [26] is different from the one we propose in ”