Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J Lumelsky Part 16 pps

... 252 connectivity graph, 305, 323 Sensing, Intelligence, Motion, by Vladimir J. Lumelsky Copyright  2006 John Wiley & Sons, Inc. contiguous sets, 107 conventional projection, 295 D deformation retract, ... 349 I in-position condition, 93 input information, 15 intermediate target, 106 inverse kinematics solution, 30 J Jogger’s Problem, 140 joint coordinates, 19 joint value, 187 j...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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...

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...

Ngày tải lên: 10/08/2014, 02:21

... (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 | >...

Ngày tải lên: 10/08/2014, 02:21

... 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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... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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 sensing range radius ... does 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. Th...

Ngày tải lên: 10/08/2014, 02:21

... 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 ... robot sensing range simply because in C-space the arm becomes a point. But that’s where the simi- larity stops. Assume that the arm’s sensing allows it to sense objects in W -s...

Ngày tải lên: 10/08/2014, 02:21