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Contour Extraction and Compression-Selected Topics [chapter]

Andrzej Dziech
2007 Mobile Robots: Perception & Navigation  
The main approach solving the problem of contour compression is based on polygonal approximation.  ...  The proposed chain code is obtained by superimposing a rectangular grid on the curve and then quantizing the curve to the nearest one of the eight possible grid points.  ...  The algorithm presented by Ramer uses the maximum distance of the curve from the approximating polygon as a fit criterion [45] .  ... 
doi:10.5772/4774 fatcat:34lrms7wzva5lnnauq3ry5cowe

The VFO-Driven Motion Planning and Feedback Control in Polygonal Worlds for a Unicycle with Bounded Curvature of Motion

Tomasz Gawron, Maciej Marcin Michałek
2017 Journal of Intelligent and Robotic Systems  
Integrated motion planning and control for the purposes of maneuvering mobile robots under state-and input constraints is a problem of vital practical importance in applications of mobile robots such as  ...  Those constraints arise naturally in practice due to specifics of robot mechanical construction and the presence of obstacles in motion environment.  ...  It can be seen from (17) that, similarly to the integral curve (10), for every α > 0 relation κ i (αy i+1 , αp i ) =κ (y i+1 , p i ) α (20) holds, because using Corollary 1 one can writȇ κ i (αy i+1  ... 
doi:10.1007/s10846-017-0555-0 fatcat:tzv2hqz6fvg6vefpddbbrihxhi

An approach to data parametrization in parametric cubic spline interpolation problems

Samuel P Marin
1984 Journal of Approximation Theory  
The first two are twodimensional curve fitting problems and the third is a problem in trajectory design for a six axes robot manipulator.  ...  In [51, approximate minimum time trajectories for the axes of a robot manipulator are determined by interpolating appropriately parametrized robot axes data with cubic splines.  ... 
doi:10.1016/0021-9045(84)90121-7 fatcat:onyhuajofvayxeoycjzky6dnae

Motion planning for disc-shaped robots pushing a polygonal object in the plane

A. Sudsang, F. Rothganger, J. Ponce
2002 IEEE Transactions on Robotics and Automation  
This paper addresses the problem of using three disc-shaped robots to manipulate a polygonal object in the plane in the presence of obstacles.  ...  This approach is generalized to the case where obstacles are present by decomposing the corresponding motion planning task into (1) the construction of a collision-free path for a modified form of the  ...  Thanks to Jeff Erickson, Shripad Thite, Peter Leven, Svetlana Lazebnik, and Sean Sitter for helpful discussions and comments.  ... 
doi:10.1109/tra.2002.801049 fatcat:mf763zdbw5ak7bzxbsot6r4hve

A Disturbance Rejection Control Method Based on Deep Reinforcement Learning for a Biped Robot

Chuzhao Liu, Junyao Gao, Dingkui Tian, Xuefeng Zhang, Huaxin Liu, Libo Meng
2021 Applied Sciences  
The disturbance rejection performance of a biped robot when walking has long been a focus of roboticists in their attempts to improve robots.  ...  The control method based on the model ZMP control is among the main methods of disturbance rejection for biped robots.  ...  The blue line is the curve for task 1 and the green line the curve for task 2. Each task for each algorithm was trained three times.  ... 
doi:10.3390/app11041587 fatcat:e4czb54dvveyveukcqvvcbfj34

Discussion on Reverse Design of Components with Complex Curved Surface and Computer Numerical Control Machining

Dapeng Fu, Xinyu Lv, Shuangyang Jiang
2018 Journal of Electronic Research and Application  
numerical control processing, effective optimization and upgrading, integration the tasks of point cloud data collection and point cloud data processing to ensure that the corresponding computer numerical  ...  Among them, curved surface generation and data processing are the focus of management and design, which necessitate the full application of reverse design of complex curved surface components to complete  ...  For example, the more widely used is the Cubic Bézier curve, to effectively approximate the curve and the graph, as shown in Figure 1 .  ... 
doi:10.26689/jera.v2i4.508 fatcat:ki3lw2clbbetpkss23riofdfu4

Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model [article]

Sen Wang, Jiaqi Chen, Xuanliang Deng, Seth Hutchinson, Frank Dellaert
2020 arXiv   pre-print
In this paper, we formulate the calligraphy writing problem as a trajectory optimization problem, and propose an improved virtual brush model for simulating the real writing process.  ...  Our approach is inspired by pseudospectral optimal control in that we parameterize the actuator trajectory for each stroke as a Chebyshev polynomial.  ...  [5] define their writing mark as a polygon connected by eight points and fit their position parameters with the collected footprints. With an eye for efficiency, Baxter et al.  ... 
arXiv:2003.01565v3 fatcat:tm26ooy7prdinkl4a4edpwz6mm

Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model [article]

Sen Wang, Jiaqi Chen, Xuanliang Deng, Seth Hutchinson, Frank Dellaert
2020 arXiv   pre-print
In this paper, we formulate the calligraphy writing problem as a trajectory optimization problem, and propose an improved virtual brush model for simulating the real writing process.  ...  Our approach is inspired by pseudospectral optimal control in that we parameterize the actuator trajectory for each stroke as a Chebyshev polynomial.  ...  [5] define their writing mark as a polygon connected by eight points and fit their position parameters with the collected footprints. With an eye for efficiency, Baxter et al.  ... 
arXiv:1911.08002v2 fatcat:lozdhgwm3racjhxaauysfqtdme

Efficient Implementation of Parallel Path Planning Algorithms on GPUs

Ralf Seidler, Michael Schmidt, Andreas Schäfer, Dietmar Fey
2011 GSTF International Journal on Computing  
For those systems using standard computers, a promising option is to employ a GPGPU as a coprocessor in order to offload those tasks which can be efficiently parallelized.  ...   Abstract-In robot systems several computationally intensive tasks can be found, with path planning being one of them.  ...  To create a uniform benchmark scenario we used a list of nodes of polygonal obstacles as input for all algorithms.  ... 
doi:10.5176/2010-2283_1.2.47 fatcat:ijx4qn6boff5tp334tnx74z46y

Wireless Kinect-NAO Framework Based on Takagi-Sugeno Fuzzy Inference System

A. Lekova, A. Krastev, I. Chavdarov
2017 Information Technologies and Control  
To prevent the robot to fall down, the center of mass is considered in order NAO to stay within a support and safe polygon.  ...  In the context of learning new skills by imitation for children with special educational needs, we propose Wireless Kinect-NAO Framework (WKNF) for robot teleoperation in real time based on Takagi-Sugeno  ...  TD1309 "Play for Children with Disabilities (LUDI)" and supported by the EEA grants, BG09 N D03-90/27.05.2015.  ... 
doi:10.1515/itc-2017-0023 fatcat:dw4z3gjflfaqtj2kuhgd2gnl4m

Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method

Xiaobo Zhang, Jinguo Liu, Zhaojie Ju, Chenguang Yang
2018 Applied Sciences  
Second, with the curve and a line segments model of a snake robot, a shape-fitting algorithm is developed for constraining the robot's macro shape.  ...  A snake robot has to raise its head to acquire a wide visual space for planning complex tasks such as inspecting unknown environments, tracking a flying object and acting as a manipulator with its raising  ...  A shape-fitting algorithm is developed for adhering the line segments model of the snake robot to the predefined spiral curve; 3.  ... 
doi:10.3390/app8112011 fatcat:cohjitc4x5awvfi2vbfbcgfh5i

Evolution of Situated and Abstract Communication in Leader Selection and Borderline Identification Swarm Robotics Problems

Rafael Sendra-Arranz, Álvaro Gutiérrez
2021 Applied Sciences  
More precisely, we address two swarm robotics tasks that require, at some extent, communication to be solved: leader selection and borderline identification.  ...  It is shown that, using the same starting conditions and robots' controllers, the evolution process leads to the emergence of utterly diverging communications.  ...  Data Availability Statement: The source code developed and used for this paper is available at https://github.com/r-sendra/SpikeSwarmSim accessed on 22 Janunary 2021.  ... 
doi:10.3390/app11083516 fatcat:g63gj5qgyjgple5pksegzx7mzi

Simulation-based design of dynamic controllers for humanoid balancing

Jie Tan, Zhaoming Xie, Byron Boots, C. Karen Liu
2016 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Model-based trajectory optimization often fails to find a reference trajectory for under-actuated bipedal robots performing highly-dynamic, contact-rich tasks in the real world due to inaccurate physical  ...  In this paper, we propose a complete system that automatically designs a reference trajectory that succeeds on tasks in the real world with a very small number of real world experiments.  ...  ACKNOWLEDGMENT We thank the anonymous reviewers for their helpful comments.  ... 
doi:10.1109/iros.2016.7759424 dblp:conf/iros/TanXBL16 fatcat:dqr4npig4jhxzg4utudfj344fu

A method for grasp evaluation based on disturbance force rejection

M. Strandberg, B. Wahlberg
2006 IEEE Transactions on robotics  
This paper presents a method for grasp evaluation. It is based on the ability of the grasp to reject disturbance forces.  ...  The evaluation criterion is formulated as a min-max optimization problem, for which an efficient algorithm is proposed and analyzed.  ...  If is a closed surface, one could instead use the volume enclosed by as a less conservative measure. The proposed procedure can be used in grasp planning, for finding good grasps for robot grippers.  ... 
doi:10.1109/tro.2006.870665 fatcat:4fohhlwqprcabfxcbo52xua7aa

Sliced Configuration Spaces for Curved Planar Bodies

Elisha Sacks, Chandrajit Bajaj
1998 The international journal of robotics research  
The slice representation is a natural and efficient abstract data type for geometric computations in robotics and engineering.  ...  We present the first practical, implemented configuration space computation algorithm for a curved planar object translating and rotating amidst stationary obstacles.  ...  Acknowledgments Leo Joskowicz provided excellent comments that helped us significantly improve this paper.  ... 
doi:10.1177/027836499801700604 fatcat:ki7xgqimdjcd5kfbejitfiesqq
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