Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J Lumelsky Part 5 pptx

... set of hit and leave points, H j and L j , along the M-line so as to form a sequence of segments |ST | > |H 1 T | > |L 1 T | > |H 2 T | > |L 2 T | > ··· (3. 25) that shrinks to T . This ... (S, H j ) because otherwise at least a part of the straight-line seg- ment (L j −1 ,H j ) would be included inside the obstacle. This is impossible VISION AND MOTION PLANNING...

Ngày tải lên: 10/08/2014, 02:21

... line is finite, we have d(L j )>d(H j +1 ). This produces a chain of inequalities for all H and L points, d(H 1 )>d(L 1 )>d(H 2 )>d(L 2 )>d(H 3 )>d(L 3 )>··· (3.8) Therefore, ... information such as approximation of obstacles with Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 73 86 MOTION PLANNING FOR A MO...

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... SENSING, INTELLIGENCE, MOTION HOW ROBOTS AND HUMANS MOVE IN AN UNSTRUCTURED WORLD Vladimir J. Lumelsky A JOHN WILEY & SONS, INC., PUBLICATION ACKNOWLEDGMENTS When ... the field, a smooth motion and a less-than- wooden personality are not among them. A robotics Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 1...

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... control • Compliant motion • Trajectory modification • Motion planning and collision avoidance; navigation Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, ... approaches to the go-from-A-to-B problem into two complementary groups—(1) motion planning with complete information and (2) motion planning with incomplete information—is ti...

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... m 5  1 2 (−k 2 51 1 + k 2 52 2 + k 2 53 3 )  (sθ 2 sθ 5 − cθ 2 sθ 4 cθ 5 ) 2 + c 2 θ 4 c 2 θ 5  + 1 2 (k 2 51 1 −k 2 52 2 + k 2 53 3 )(s 2 θ 4 +c 2 θ 2 c 2 θ 4 ) + 1 2 (k 2 51 1 +k 2 52 2 − k 2 53 3 )  (sθ 2 cθ 5 + ... =        D 11 D 12 D 13 D 14 D 15 D 16 D 12 D 22 D 23 D 24 D 25 D 26 D 13 D 23 D 33 D 34 D 35 D 36 D 14 D 24 D 34 D 44 D 45 D 46 D 15 D...

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... information (Piano Mover’s model) and motion planning with incomplete information [other names are sensor-based planning, or Sens- ing Intelligence Motion (SIM)]. The idea is to use sensor-based planning ... holonomic and, second, Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 139 PROBLEM STATEMENT 141 jogger’s mass and speed to...

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... effect on motion planning later, in Section 5. 3. It INTRODUCTION 181 q 1 q 2 q 1 q 1 l 2 l 1 l 2 l 1 l 1 l 2 J o J o J o J o J o J 1 J 1 J 1 J 1 J 1 q 2 l 1 l 2 a b (a)(b)(c) ( d )( e ) Figure 5. 1 ... investment, and engineering complexity Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 177 MINIMUM TIME STRA...

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... this all relate to the actual motion of the arm manipulator in W -space? The actual path in W-space whose reflection in C-space we just con- sidered is shown in Figure 5. 14. The path created by the ... proximity (distance) sensing (see Figure 5. 16). r J o J 1 q 1 q 2 l 1 l 2 Figure 5. 16 Proximity sensing of this arm manipulator forms a sensing cushion around the arm. The sen...

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... obstacle; in Figure 5. 23 these are lines 3-2 -1 and 5- 6 -7 . • The straight-line segment that is a part of the W -space boundary; in Fig- ure 5. 23, this is line 7-1 . Of these, the first three segments ... l 2 l 1 l 2 l 1 l 2 < l 1 y x z Figure 5. 21 The RR arm of Figure 5. 19c. (a) The arm design. (b) Two projections of the arm W-space in case l 2 >l 1 . (c) Two projecti...

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... point: Condition 5. 8.1. Let j ∗ ∈ C satisfy (5. 7); that is, there exists u ∈ L such that w = u (j ∗ ) ∈ O. For given δ>0 and >0, define O = O ∩ U(w,δ), L = L ∩ U(u,δ), and O C = {j ∈ U (j ∗ ,): L (j ... Figure 5. E.1). The arm’s links l 1 and l 2 are line segments of the same length l.Thereisan J 1 J o l 2 l 1 l/4 O l /4 Figure 5. E.1 252 MOTION PLANNING FOR TWO-D...

Ngày tải lên: 10/08/2014, 02:21