Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J Lumelsky Part 11 docx

... types of elemental motions that appear in C, called Motion I, Motion II, Motion III, Motion IV, and Motion V, each corresponding to the P c (C-point) motion either along the P c (M-line) or along ... ·m > 0 and downward if b · m ≤ 0. 2. The C-point moves along the M-line or along an intersection curve between the V-plane and an obstacle, and it is about to leave V-plane at the...

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... 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 Five kinematically distinct two-link planar robot arms manipulators: ... utilization, overall investment, and engineering complexity Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 17...

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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 projections of t...

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... only the left-to-right (LtoR) data sets. The results are shown in Table 7.6. Given the significance level p<0.01, we reject the null hypothesis and conclude that in the left-to-right task there ... 0. Let Q i , i = 1, ,m,andR j ,j = 1, ,n, be the ranks of X i and Y j ,respec- tively, among the N = (m + n) combined X and Y observations. That is, R j is the rank of Y j among the mXsa...

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... [106, 134] and at the University of Wisconsin—Madison Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. 389 RESULTS— EXPERIMENT TWO 373 Multivariate ... another group. Suppose µ ij represents the mean of the dependent variable i for group j , i = 1, 2, j = 1, 2. The mean vector for group j can be written as µ j =  µ 1j µ 2...

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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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... this way. • Motion planning with incomplete information, also called sensor-based motion planning or on-line motion planning,orpath planning with uncer- tainty,ortheSensing Intelligence Motion (SIM) ... criterion, how does one judge the per- formance of a motion planning algorithm with uncertainty? Given the real-time nature of SIM algorithms, they are expected to allow reasonably...

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... 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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... (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 119 (a)(b) S L j T Q X j T i C S T Q L j X j T i C Figure ... 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 | >...

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