Filters








39 Hits in 7.6 sec

A GPU-Based Evolution Algorithm for Motion Planning of a Redundant Robot

Chih Jer Lin
2017 International Robotics & Automation Journal  
To obtain the optimal inverse kinematic solution for motion planning of a redundant robot with obstacle avoidance, the computation load is very large if the grid search algorithm is used.  ...  To obtain the optimal inverse kinematic solution for motion planning of a redundant robot with obstacle avoidance, the computation load is very large if the grid search algorithm is used.  ... 
doi:10.15406/iratj.2017.02.00015 fatcat:rkfaw5ubzzey7mqmxcnwk37eaa

Inverse Kinematic Solutions for Articulated Characters using Massively Parallel Architectures and Differential Evolutionary Algorithms [article]

Ben Kenwright
2017 Workshop on Virtual Reality Interactions and Physical Simulations  
We help reduce this burden by modifying the algorithm to run on a massively parallel architecture (like the GPU) using a CUDA-based framework.  ...  Our method focuses on generating approximate solutions for a range of inverse kinematic problems (for instance, positions, orientations and physical factors, like overall centre-of-mass location) using  ...  Acknowledgements We gratefully acknowledge the support of the NVIDIA Corporation for the donation of hardware used in this research.  ... 
doi:10.2312/vriphys.20171085 dblp:conf/vriphys/Kenwright17 fatcat:llosf3audrhl3fbs65t4s6unha

From D-H to inverse kinematics: A fast numerical solution for general robotic manipulators using parallel processing

Siavash Farzan, G. N. DeSouza
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We propose a robust and fast solution for the inverse kinematic problem of general serial manipulators -i.e. any number and any combination of revolute and prismatic joints.  ...  The algorithm was implemented in C/C++ using 16 POSIX threads, and it can be easily expanded to use more threads and/or many-core GPUs.  ...  CONCLUSION AND FUTURE WORK This paper presented a novel approach for the inverse kinematics problem for a general robotic manipulator.  ... 
doi:10.1109/iros.2013.6696709 dblp:conf/iros/FarzanD13 fatcat:enyqkbfra5a2xapbvrxum437pm

Exploiting Multi-Level Parallelism for Run-Time Adaptive Inverse Kinematics on Heterogeneous MPSoCs

Leonardo Suriano, Andres Otero, Alfonso Rodriguez, Manuel Sanchez-Renedo, Eduardo de la Torre
2020 IEEE Access  
In [38] , Aguilar et al. propose a CUDA-based approximate solver based on a parallel genetic algorithm.  ...  A. PARALLEL INVERSE KINEMATICS SOLVER The earliest solvers proposed for the inverse kinematics problem were variations of Jacobian-based methods running sequentially on microprocessors.  ... 
doi:10.1109/access.2020.3005202 fatcat:ebz77dkgijevbi5pggpgelqrsy

A Survey of FPGA Robotics Applications in the Period 2010 – 2019

Dimitris Ziouzios, Pavlos Kilintzis, Nikolaos Baras, Minas Dasygenis
2021 Advances in Science, Technology and Engineering Systems  
FPGAs constitute a flexible and increasingly popular controlling solution for robotic applications.  ...  This paper provides an overview of the publications regarding different robotic FPGA application fields as well as the most commonly-used robot types used for those applications for the 10-year period  ...  Acknowledgment This research has been implemented in the framework of the Action "Business Enhancement for Research projects" and co-  ... 
doi:10.25046/aj060344 fatcat:hzvap55zznflvnmwfxm3zdbkeq

Online Body Schema Adaptation Based on Internal Mental Simulation and Multisensory Feedback

Pedro Vicente, Lorenzo Jamone, Alexandre Bernardino
2016 Frontiers in Robotics and AI  
Then, we show how the use of high-performance GPU programing and an edge-based algorithm for visual perception allow for real-time implementation in real-world scenarios.  ...  In this paper, we describe a novel approach to obtain automatic adaptation of the robot body schema and to improve the robot perceptual and motor skills based on this body knowledge.  ...  GTX 750 with 512 CUDA Cores, a base clock of 1020 MHz and 2048 MB of memory (RAM).  ... 
doi:10.3389/frobt.2016.00007 fatcat:wiezcd7yn5cspmnjvc4qj6du7e

A Sketching Interface for Sitting Pose Design in the Virtual Environment

Juncong Lin, T. Igarashi, Jun Mitani, Minghong Liao, Ying He
2012 IEEE Transactions on Visualization and Computer Graphics  
Further, we formulated this reconstruction into a nonlinear optimization problem and solved it via the genetic algorithm (GA) and the quasi-Newton solver.  ...  As reconstructing the 3D pose from a 2D stick figure is an ill-posed problem due to many possible solutions, the key idea in our paper is to reduce solution space by considering the interaction between  ...  The authors would like to thank the anonymous reviewers for their constructive comments.  ... 
doi:10.1109/tvcg.2012.61 pmid:22350198 fatcat:a37gcj6bz5airlhos37zjfv3yi

Multi-grid cellular genetic algorithm for optimizing variable ordering of ROBDDs

Cristian Rotaru, Octav Brudaru
2012 2012 IEEE Congress on Evolutionary Computation  
A similarity based communication protocol between clusters of individuals from parallel grids is defined. The exchange of genetic material proves to considerably boost the quality of the solution.  ...  This paper presents a cellular genetic algorithm for optimizing the variable order in Reduced Ordered Binary Decision Diagrams. The evolution process is inspired by a basic genetic algorithm.  ...  A Case Study on the Application of Instance Selection Techniques for Genetic Fuzzy Rule-Based Classifiers 472, Yusuke Nojima, Shingo Mihara and Hisao Ishibuchi, Application of Parallel Distributed Genetics-based  ... 
doi:10.1109/cec.2012.6256590 dblp:conf/cec/RotaruB12 fatcat:4ly3nrktw5habc6lf5err7d5py

Basque Conference on Cyber Physical Systems and Artificial Intelligence

Manuel Graña
2022 Zenodo  
Martinez, Diego Castillo, Miriam López, Rosa Chaves, Antonio Moreno, etc.; at the UCA: Oscar Pernía, Ignacio Turias; at the US: Ruben Martin Clemente and Sergio Cruces; at the University of Leicester:  ...  I am so grateful for that.  ...  In [20] , they compare a robust genetic algorithm (Robust-GA) and a column generation scheme (CG) as means to obtaining solutions for this model.  ... 
doi:10.5281/zenodo.6568145 fatcat:lbwc7clohbeybmmdjhdlalxziu

Basque Conference on Cyber Physical Systems and Artificial Intelligence

Manuel Graña
2022 Zenodo  
Martinez, Diego Castillo, Miriam López, Rosa Chaves, Antonio Moreno, etc.; at the UCA: Oscar Pernía, Ignacio Turias; at the US: Ruben Martin Clemente and Sergio Cruces; at the University of Leicester:  ...  I am so grateful for that.  ...  load-based genetic algorithm (NSGA) and particle swarm optimization algorithm PSO.  ... 
doi:10.5281/zenodo.7039276 fatcat:dyorjakurnaxxgvgoojcbpyd5a

Basque Conference on Cyber Physical Systems and Artificial Intelligence

Manuel Graña
2022 Zenodo  
Martinez, Diego Castillo, Miriam López, Rosa Chaves, Antonio Moreno, etc.; at the UCA: Oscar Pernía, Ignacio Turias; at the US: Ruben Martin Clemente and Sergio Cruces; at the University of Leicester:  ...  I am so grateful for that.  ...  load-based genetic algorithm (NSGA) and particle swarm optimization algorithm PSO.  ... 
doi:10.5281/zenodo.7010718 fatcat:a4gzrvtkybdbpmycqmjkvryco4

Basque Conference on Cyber Physical Systems and Artificial Intelligence

Manuel Graña
2022 Zenodo  
Martinez, Diego Castillo, Miriam López, Rosa Chaves, Antonio Moreno, etc.; at the UCA: Oscar Pernía, Ignacio Turias; at the US: Ruben Martin Clemente and Sergio Cruces; at the University of Leicester:  ...  I am so grateful for that.  ...  In [20] , they compare a robust genetic algorithm (Robust-GA) and a column generation scheme (CG) as means to obtaining solutions for this model.  ... 
doi:10.5281/zenodo.6574965 fatcat:wclgcwfeuvglhnenzq7uvie5by

Basque Conference on Cyber Physical Systems and Artificial Intelligence [article]

Manuel Graña
2022 Zenodo  
Martinez, Diego Castillo, Miriam López, Rosa Chaves, Antonio Moreno, etc.; at the UCA: Oscar Pernía, Ignacio Turias; at the US: Ruben Martin Clemente and Sergio Cruces; at the University of Leicester:  ...  I am so grateful for that.  ...  In [20] , they compare a robust genetic algorithm (Robust-GA) and a column generation scheme (CG) as means to obtaining solutions for this model.  ... 
doi:10.5281/zenodo.6558965 fatcat:vmrdhbmtwzf6diusv4mqdsgnsa

Final Program

2020 2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)  
Graciela Judith Esparza Azcoitia Signatory for the non-IEEE Sponsor M.A. Andrés Hernández Pineda Logistics manager MSc.  ...  Multi-robot manipulation using formation control and human-in-the-loop scheme Abstract: In this paper, we present a novel multi-robot manipulation system with human operator.  ...  Trajectory Tracking of Parallel Robots: A Relaxed Differential-Algebraic-Equation Approach Abstract: In this paper, trajectory tracking for a class of parallel robots is pursued via a novel computed-torque  ... 
doi:10.1109/cce50788.2020.9299182 fatcat:dff7ylnwrzabdcv276gbwcgkji

Conference Digest

2020 2020 IEEE Aerospace Conference  
The Auxiliary Payload Sensor Suite (APSS), a collection of environmental sensors carried by the Interior exploration using Seismic Investigations, Geodesy, and Heat Transport (InSight) lander, is capable  ...  of freedom, number of mechanisms, types of mechanisms), robotic solution design, implementation, and verification and validation (kinematic configuration, robotic and kinematic analysis and topology optimization  ...  The paper covers a novel technique to parallelize typically serial algorithms for phase and symbol tracking, followed by a discussion of data distribution for a massively parallel architecture.  ... 
doi:10.1109/aero47225.2020.9172613 fatcat:ioqf5ijrx5gvffu3ls34aa2nsq
« Previous Showing results 1 — 15 out of 39 results