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Motion planning for digital humans

Motion planning for digital humans

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2003 ieee international symposium on computational intelligence in robotics and automation, CIRA 2003

作者： Kuffner, James Chestnutt, Joel Kagami, Satoshi Latombe, Jean-Claude Nishiwaki, Koichi Hodgins, Jessica LaValle, Steve Inaba, Masayuki Yamane, Katsu Inoue, Hirochika Robotics Institute Carnegie Mellon University Dept. of Computer Science 5000 Forbes Ave. PittsburghPA15213 United States 2-41-6 Oumi Kouto-ku Tokyo113-0064 Japan

ISBN: (纸本)0780378660

Research efforts are underway to develop sophisticated computer models of human physiology, biomechanics, and appearance. Applications of these "digital humans" range from medical research to virtual reality entertainment. This paper presents an overview of several motion planning techniques for automatically generating motion trajectories for digital humans. The ultimate goal is to create autonomous animated characters that are able to move naturally and realistically in response to high-level task commands. These "digital human" characters can be viewed as "virtual robots" operating in simulated environments, since developing software to control such characters shares much in common with programming real robots. Experimental results involving both simulated human characters and real humanoid robots are shown. © 2003 ieee.

关键词： Motion planning

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Target localization and identification using CTFM sonar imaging: The AURBIT method 3

Target localization and identification using CTFM sonar imag...

引用

3rd ieee international symposium on computational intelligence in robotics and automation, CIRA 1999

作者： Politis, Z. Probert, P.J. Robotics Research Group Department of Engineering Science University of Oxford Parks Road OxfordOX1 3PJ United Kingdom

ISBN: (纸本)0780358066

In this paper we introduce a new method for acquiring and processing ultrasound signals for the location and identification of the typical primitives for map building - planes, corners and edges. Models of the echo signals received allows the feature parameteri-sation of their range and amplitude values. Part of the pre-processing and the classification over their standard features was done by using neural networks. Receiver saturation due to the large dynamic range is included in the models. The combination of model based methods and learning provides an algorithm which requires only sparse measurements to locate and identify targets. The transducer is a continuous wave single frequency modulated (CFTM) transmitter/receiver, not original in terms of its hardware but with little reported application in this field. The method is applied to mobile robot exploration and demonstrated with the production of a sonar map. © 1999 ieee.

关键词： Sonar

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A collective moving algorithm in modular robotics: Contribution of communication capacities

A collective moving algorithm in modular robotics: Contribut...

引用

2005 ieee international symposium on computational intelligence in robotics and automation CIRA 2005

作者： Montreuil, Vincent Duhaut, Dominique Drogoul, Alexis Laboratoire d'Informatique et Ses Applications de Vannes et Lorient University of South Britanny rue Saint Maudé 56325 Lorient Cedex France Laboratoire d'Informatique de Paris 6 University of Paris 6 8 rue du capitaine Scott 75015 Paris France

The goal of self-reconfigurable robotics is to replace a complex robot by a swarm of more simple robots called modules which can change the way they are connected, creating thus a robot which can adapt his shape to the environment in which it is evolving. The goal of this approach is to obtain a large robustness against breakdowns. In order to further increase this robustness we can use autonomous modules which can move by their own and which can make/break connections with other modules as desired. We present a behaviour model for autonomous modules to permit the swarm to get over simple difficulties: climbing on straight walls, getting over ditches and moving down straight walls. Our model is an identical finite state machine implanted in all modules which is dedicated to the movement of autonomous modules swarm. We also present three simulations in which we study three different levels of communication, thus estimating influence of these capacities on the modules swarm speed to get over three consecutive difficulties. © 2005 ieee.

关键词： robotics

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Communication-efficient dynamic task scheduling for heterogeneous multi-robot systems

Communication-efficient dynamic task scheduling for heteroge...

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2007 ieee international symposium on computational intelligence in robotics and automation, CIRA 2007

作者： Shah, Kashyap Yan, Meng IEEE Department of Electrical and Computer Engineering Stevens Institute of Technology Hoboken NJ 07030 United States

ISBN: (纸本)1424407907

In this paper, a communication-efficient dynamic task scheduling algorithm for a heterogeneous multi-robot system is proposed. To make this task scheduling algorithm to be scalable for various robot teams, a distributed communication with shared global unit mechanism is applied to reduce the storage cost as well as communication overhead. Each robot makes its own decision through communicating with others as well as checking a global unit. This algorithm improves its efficiency by broadcasting specific information only to those who are capable and have interest in the current tasks. To improve the system robustness, an auction-based fitness function is applied to dynamically allocate the tasks among the robots if the pre-assigned robot can not handle the task or a robot fails under dynamic environment. The proposed approach is robust against communication failures and robot failures. Simulation results demonstrate the efficiency and robustness of the proposed approach. © 2007 ieee.

关键词： Robots

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Linear synchronous motor servo drive based on adaptive wavelet neural network

Linear synchronous motor servo drive based on adaptive wavel...

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2005 ieee international symposium on computational intelligence in robotics and automation CIRA 2005

作者： Lin, Faa-Jeng Shen, Po-Hung IEEE Department of Electrical Engineering National Dong Hwa University Hualien 974 Taiwan

An adaptive wavelet neural network (AWNN) control system is proposed to control the position of the mover of a permanent magnet linear synchronous motor (PMLSM) servo drive system to track periodic reference trajectories in this study. In the proposed AWNN control system, a WNN with accurate approximation capability is employed to approximate the unknown dynamics of the PMLSM, and a robust term is proposed to confront the inevitable approximation errors due to finite number of wavelet basis functions and disturbances including the friction force. The adaptive learning algorithm that can learn the parameters of weight, dilation and translation of the WNN on line is derived using Lyapunov stability theorem. Moreover, to relax the requirement for the bound of uncertainty in robust term, which comprises a minimum approximation error, optimal parameter vectors, higher-order terms in Taylor series and friction force, an adaptive bound estimation law is investigated where a simple adaptive algorithm is utilized to estimate the bound of uncertainty. Furthermore, the experimental results due to periodic reference trajectories show that the dynamic behaviors of the proposed control systems are robust with regard to uncertainties. © 2005 ieee.

关键词： Synchronous motors

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Quadrotor Control Using Dynamic Feedback Linearization Based on Piecewise Bilinear Models 4

Quadrotor Control Using Dynamic Feedback Linearization Based...

引用

ieee symposium on computational intelligence in Control and automation (CICA)

作者： Taniguchi, Tadanari Eciolaza, Luka Sugeno, Michio Tokai Univ IT Educ Ctr Hiratsuka Kanagawa 2591292 Japan European Ctr Soft Comp Mieres 33600 Asturias Spain

ISBN: (纸本)9781479945306

This paper proposes a tracking controller for a four rotors helicopter robot using dynamic feedback linearization based on piecewise bilinear (PB) models. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PB control system. Although the controller is simpler than the conventional I/O feedback linearization controller, the control performance based on PB model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.

关键词： aerospace robotics bilinear systems feedback helicopters position control I-O feedback linearization controller PB control system PB models computer simulations helicopter robot input-output dynamic feedback linearization piecewise bilinear models quadrotor control tracking controller Aerospace electronics computational modeling Control systems Helicopters Mathematical model Robots Rotors Helicopters tracking controller aerospace robotics avionics Rotors bilinear systems control systems Robot Feedback Computer Simulation Position control computational modeling Mathematical Model Linearization

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Communication Protocols in Substation automation and IEC 61850 based proposal

Communication Protocols in Substation Automation and IEC 618...

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14th ieee international symposium on computational intelligence and Informatics (CINTI)

作者： Horalek, J. Matyska, J. Sobeslav, V. Univ Hradec Kralove Dept Informat Technol Hradec Kralove Czech Republic

ISBN: (纸本)9781479901944;9781479901975

The automation of control systems of substations in the energy industry uses a variety of specialized standards, technologies and protocols. Among the most frequently used belong MODBUS, IEC60870, DNP3 and IEC61850 protocols. The present paper analyses and compares approaches to data communication among the above mentioned protocols with the main focus on modern standard IEC61850. The paper was created on the basis of experience while implementing data communications for CEPS a.s., the national distributor in the Czech Republic.

关键词： IEC standards power system control substation automation IP networks ethernet networks network topology

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Fast Temporal Projection Using Accurate Physics-Based Geometric Reasoning

Fast Temporal Projection Using Accurate Physics-Based Geomet...

引用

ieee international Conference on robotics and automation (ICRA)

作者： Moesenlechner, Lorenz Beetz, Michael Tech Univ Munich Intelligent Autonomous Syst D-80290 Munich Germany Univ Bremen TZI Inst Artificial Intelligence Bremen Germany

ISBN: (纸本)9781467356411;9781467356435

Temporal projection is the computational problem of predicting what will happen when a robot executes its plan. Temporal projection for everyday manipulation tasks such as table setting and cleaning is a challenging task. Symbolic projection methods developed in Artificial intelligence are too abstract to reason about how to place objects such that they do not hinder future actions. Simulation-based projection is fine-grained enough but computationally too expensive as it is not able to abstract away from the execution of uninteresting actions (such as navigation). In this paper we propose a novel temporal projection mechanism that combines the strengths of both approaches: it is able to abstract away from the execution of continuous but uninteresting actions and provides the realism and fine grainedness needed to reason about critical situations.

关键词： inference mechanisms planning (artificial intelligence) robots

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Probabilistic semantic mapping with a virtual sensor for Building/Nature detection

Probabilistic semantic mapping with a virtual sensor for Bui...

引用

international symposium on computational intelligence in robotics and automation

作者： Persson, Martin Duckett, Tom Valgren, Christoffer Lilienthal, Achim Univ Orebro Dept Technol Ctr Appl Autonomous Sensor Syst Orebro Sweden Lincoln Univ Lincoln England

ISBN: (纸本)9781424407897

In human-robot communication it is often important to relate robot sensor readings to concepts used by humans. We believe that access to semantic maps will make it possible for robots to better communicate information to a human operator and vice versa. The main contribution of this paper is a method that fuses data from different sensor modalities, range sensors and vision sensors are considered, to create a probabilistic semantic map of an outdoor environment. The method combines a learned virtual sensor (understood as one or several physical sensors with a dedicated signal processing unit for recognition of real world concepts) for building detection with a standard occupancy map. The virtual sensor is applied on a mobile robot, combining classifications of sub-images from a panoramic view with spatial information (location and orientation of the robot) giving the likely locations of buildings. This information is combined with an occupancy map to calculate a probabilistic semantic map. Our experiments with an outdoor mobile robot show that the method produces semantic maps with correct labeling and an evident distinction between 'building' objects from 'nature' objects.

关键词： robotics

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Robotic self-replication in a structured environment without computer control

Robotic self-replication in a structured environment without...

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international symposium on computational intelligence in robotics and automation

作者： Eno, Steven Mace, Lauren Liu, Jianyi Benson, Brian Raman, Kailash Lee, Kiju Moses, Matt Chirikjian, Gregory S. Johns Hopkins Univ Dept Engn Mech Baltimore MD 21218 USA Johns Hopkins Univ Baltimore MD 21218 USA

ISBN: (纸本)9781424407897

The ability to self-replicate is one of the distinctive features of living organisms. Robots capable of self-replication would have a profound impact on the field of robotics by improving lifetime and robustness. In the past our lab has built several prototypes of self-replicating robotic systems including semi-autonomous and fully-autonomous robots with microprocessor-based control, and a self-replicating electromechanical circuit composed of basic electronic elements (transistors, resistors, etc.). These previous efforts demonstrated that man-made systems with simple behaviors are capable of self-replication. Extending our previous results, in this paper, we present an autonomous self-replicating robotic system with distributed electronic components in a structured environment. Using simple discrete electronic components allows for a more uniform decomposition of each robot into simpler parts than for microprocessor-controlled systems. Ultimately, we would like to demonstrate robots that replicate from the most basic parts, and this paper represents one more step toward acheiving this goal.

关键词： robotics

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