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The Motion Grammar Calculus for Context-Free Hybrid Systems

The Motion Grammar Calculus for Context-Free Hybrid Systems

引用

American Control Conference

作者： Neil Dantam Mike Stilman Robotics and Intelligent Machines Center in the Department of Interactive Computing Georgia Institute of Technology Atlanta GA 30332 USA

ISBN: (纸本)9781457710957

This paper provides a method for deriving provably correct controllers for Hybrid Dynamical Systems with Context-Free discrete dynamics, nonlinear continuous dynamics, and nonlinear state partitioning. The proposed method models the system using a Context-Free Motion Grammar and specifies correct performance using a Regular language representation such as Linear Temporal Logic. The initial model is progressively rewritten via a calculus of symbolic transformation rules until it satisfies the desired specification.

关键词： hybrid systems context-free Calculus syntax Calculi

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Enhancing the robot service experience through social media

Enhancing the robot service experience through social media

引用

20th IEEE International Symposium on Robot and Human interactive Communication, RO-MAN 2011

作者： Emeli, Victor Christensen, Henrik Center for Robotics and Intelligent Machines School of Interactive Computing Georgia Institute of Technology Atlanta GA United States

ISBN: (纸本)9781457715716

The development of effective robot servers has been an intensely studied research area for many years. Their operation in a dynamic environment presents multiple challenges in navigation, recognition, human-robot interaction, and manipulation. This paper addresses the challenges presented by recognition and human-robot interaction by utilizing Twitter and Facebook to potentially mitigate some of the long known issues in these areas. Specifically, we will address the problems of reliable human-robot communications and efficiency of service delivery. An online scenario study is administered to participants to evaluate the performance of a social media enabled robot as compared to a traditional speech synthesis and recognition enabled robot. The potential for the robot to learn and build long-term relationships through access to these social mediums is also discussed as a future work. © 2011 IEEE.

关键词： Human robot interaction

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Push planning for object placement on cluttered table surfaces

Push planning for object placement on cluttered table surfac...

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2011 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Akansel Cosgun Tucker Hermans Victor Emeli Mike Stilman Center of Robotics and Intelligent Machines and The School of Interactive Computing Georgia Institute of Technology Atlanta GA USA

We present a novel planning algorithm for the problem of placing objects on a cluttered surface such as a table, counter or floor. The planner (1) selects a placement for the target object and (2) constructs a sequence of manipulation actions that create space for the object. When no continuous space is large enough for direct placement, the planner leverages means-end analysis and dynamic simulation to find a sequence of linear pushes that clears the necessary space. Our heuristic for determining candidate placement poses for the target object is used to guide the manipulation search. We show successful results for our algorithm in simulation.

关键词： Planning Clutter Robots Search problems Shape Grasping Heuristic algorithms

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Sampling heuristics for optimal motion planning in high dimensions

Sampling heuristics for optimal motion planning in high dime...

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2011 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Baris Akgun Mike Stilman Center of Robotics and Intelligent Machines and The School of Interactive Computing Georgia Institute of Technology Atlanta GA USA

We present a sampling-based motion planner that improves the performance of the probabilistically optimal RRT* planning algorithm. Experiments demonstrate that our planner finds a fast initial path and decreases the cost of this path iteratively. We identify and address the limitations of RRT* in high-dimensional configuration spaces. We introduce a sampling bias to facilitate and accelerate cost decrease in these spaces and a simple node-rejection criteria to increase efficiency. Finally, we incorporate an existing bi-directional approach to search which decreases the time to find an initial path. We analyze our planner on a simple 2D navigation problem in detail to show its properties and test it on a difficult 7D manipulation problem to show its effectiveness. Our results consistently demonstrate improved performance over RRT*.

关键词： Planning Robots Bidirectional control Probabilistic logic Heuristic algorithms Space exploration Navigation

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Golem Krang: Dynamically stable humanoid robot for mobile manipulation

Golem Krang: Dynamically stable humanoid robot for mobile ma...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mike Stilman Jon Olson William Gloss Center for Robotics and Intelligent Machines & School of Interactive Computing Georgia Institute of Technology Atlanta GA USA

What would humans be like if nature had invented the wheel? Golem Krang is a novel humanoid torso designed at Georgia Tech. The robot dynamically transforms from a .5 m static to a 1.5 m dynamic configuration. Our robot development has led to two advances in the design of platforms for mobility and manipulation: (1) A 2-DOF robot base that autonomously stands from horizontal rest; (2) A 4-DOF humanoid torso that adds a waist roll joint to replicate human torso folding and a yaw joint for spine rotation. The mobile torso also achieves autonomous standing in a constrained space while lifting a 40 kg payload. Golem validates our assertions by consistently achieving static-dynamic transformations. This paper describes the design of our mobile torso. It considers a number of factors including its suitability for human environments, mechanical simplicity and the ability to store potential and kinetic energy for handling heavy human and even super-human tasks.

关键词： Humanoid robots Humans Torso Mobile robots Robot kinematics Manipulator dynamics Robust stability robotics and automation Wheels Orbital robotics

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Dynamic pushing strategies for dynamically stable mobile manipulators

Dynamic pushing strategies for dynamically stable mobile man...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Pushkar Kolhe Neil Dantam Mike Stilman Center for Robotics and Intelligent Machines & School of Interactive Computing Georgia Institute of Technology Atlanta GA USA

This paper presents three effective manipulation strategies for wheeled, dynamically balancing robots with articulated links. By comparing these strategies through analysis, simulation and robot experiments, we show that contact placement and body posture have a significant impact on the robot's ability to accelerate and displace environment objects. Given object geometry and friction parameters we determine the most effective methods for utilizing wheel torque to perform non-prehensile manipulation.

关键词： Manipulator dynamics Mobile robots Wheels Performance analysis robotics and automation Friction Torque Orbital robotics Humans Analytical models

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Stylized motion generalization through adaptation of velocity profiles

Stylized motion generalization through adaptation of velocit...

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19th IEEE International Conference on Robot and Human interactive Communication, RO-MAN 2010

作者： Gielniak, Michael J. Liu, C. Karen Thomaz, Andrea L. Department of Electrical and Computer Engineering Georgia Institute of Technology 777 Atlantic Dr. NW Atlanta GA 30332 United States School of Interactive Computing Georgia Institute of Technology 85 5th St. NE Atlanta GA 30308 United States Robotics and Intelligent Machines Center Georgia Institute of Technology 801 Atlantic Dr. NW Atlanta GA 30332 United States

ISBN: (纸本)9781424479917

Stylized motion is prevalent in the field of Human- Robot Interaction (HRI). Robot designers typically hand craft or work with professional animators to design behaviors for a robot that will be communicative or life-like when interacting with a human partner. A challenge is to apply this stylized trajectory in varied contexts (e.g. performing a stylized gesture with different end-effector constraints). The goal of this research is to create useful, task-based motion with variance that spans the reachable space of the robot and satisfies constraints, while preserving the "style" of the original motion. We claim the appropriate representation for adapting and generalizing a trajectory is not in Cartesian or joint angle space, but rather in joint velocity space, which allows for unspecified initial conditions to be supplied by interaction with the dynamic environment. The benefit of this representation is that a single trajectory can be extended to accomplish similar tasks in the world given constraints in the environment. We present quantitative data using a continuity metric to prove that, given a stylized initial trajectory, we can create smoother generalized motion than with traditional techniques such as cyclic-coordinate descent. © 2010 IEEE.

关键词： Trajectories

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Visual Place Categorization: Problem, dataset, and algorithm

Visual Place Categorization: Problem, dataset, and algorithm

引用

2009 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Jianxin Wu Henrik I. Christensen James M. Rehg Center for Robotics & Intelligent Machines and the School of Interactive Computing College of Computing Georgia Institute of Technology Atlanta GA USA

In this paper we describe the problem of visual place categorization (VPC) for mobile robotics, which involves predicting the semantic category of a place from image measurements acquired from an autonomous platform. For example, a robot in an unfamiliar home environment should be able to recognize the functionality of the rooms it visits, such as kitchen, living room, etc. We describe an approach to VPC based on sequential processing of images acquired with a conventional video camera. We identify two key challenges: Dealing with non-characteristic views and integrating restricted-FOV imagery into a holistic prediction. We present a solution to VPC based upon a recently-developed visual feature known as CENTRIST (census transform histogram). We describe a new dataset for VPC which we have recently collected and are making publicly available. We believe this is the first significant, realistic dataset for the VPC problem. It contains the interiors of six different homes with ground truth labels. We use this dataset to validate our solution approach, achieving promising results.

关键词： Layout Image recognition Robot vision systems intelligent robots Cameras Robot sensing systems Mobile robots Computer vision Face recognition robotics and automation

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Control of mobile manipulator using the dynamical systems approach

Control of mobile manipulator using the dynamical systems ap...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Lars-Peter Ellekilde Henrik I. Christensen The Maersk Mc-Kinney Moller Institute Faculty of Engineering University of Southern Denmark Odense Denmark Center of Robotics and Intelligent Machines Interactive Computing / College of Computing Georgia Institute of Technology Atlanta GA USA

The combination of a mobile platform and a manipulator, known as a mobile manipulator, provides a highly flexible system, which can be used in a wide range of applications, especially within the field of service robotics. One of the challenges with mobile manipulators is the construction of control systems, enabling the robot to operate safely in potentially dynamic environments. In this paper we will present work in which a mobile manipulator is controlled using the dynamical systems approach. The method presented is a two level approach in which competitive dynamics are used both for the overall coordination of the mobile platform and the manipulator as well as the lower level fusion of obstacle avoidance and target acquisition behaviors.

关键词： Control systems Manipulator dynamics Robot kinematics Mobile robots robotics and automation Vehicle dynamics intelligent robots Velocity control Infrared sensors Oscillators

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Humanoid teleoperation for whole body manipulation

Humanoid teleoperation for whole body manipulation

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Mike Stilman Koichi Nishiwaki Satoshi Kagami School of Interactive Computing Center for Robotics and Intelligent Machines Atlanta GA USA Digital Human Research Center National Institute for Advanced Industrial Science and Technology Tokyo Japan

We present results of successful telemanipulation of large, heavy objects by a humanoid robot. Using a single joystick the operator controls walking and whole body manipulation along arbitrary paths for up to ten minutes of continuous execution. The robot grasps, walks, pushes, pulls, turns and re-grasps a 55 kg range of loads on casters. Our telemanipulation framework changes reference frames online to let the operator steer the robot in free walking, its hands in grasping and the object during mobile manipulation. In the case of manipulation, our system computes a robot motion that satisfies the commanded object path as well as the kinematic and dynamic constraints of the robot. Furthermore, we achieve increased robot stability by learning dynamic friction models of manipulated objects.

关键词： Legged locomotion Humanoid robots Humans robotics and automation Automatic control Orbital robotics Kinematics Manipulator dynamics Service robots intelligent robots

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