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Pose Control in Dynamic Conditions [chapter]

Brian F. Allen, Michael Neff, Petros Faloutsos
2010 Lecture Notes in Computer Science  
The analytic solution is tailored to the needs of pose control for animation, and provides significant improvement in the precision of control, particularly for simulated characters in dynamic conditions  ...  Pose control for physically simulated characters has typically been based on proportional-derivative (PD) controllers.  ...  desired target under dynamic conditions (i.e., non-zero initial velocities) by significant amounts.  ... 
doi:10.1007/978-3-642-16958-8_6 fatcat:ix44yrdmbrdjjmq7q3nppg2fne

Designing a user-defined gesture vocabulary for an in-vehicle climate control system

Hessam Jahani Fariman, Hasan J. Alyamani, Manolya Kavakli, Len Hamey
2016 Proceedings of the 28th Australian Conference on Computer-Human Interaction - OzCHI '16  
This paper aims at analysing human gestures to define a preliminary gesture vocabulary for in-vehicle climate control using a driving simulator.  ...  The outcomes demonstrate that GestDrive is successful in describing the employed gestures in detail.  ...  Gesture Name Gesture Function (1) Static Pose Hand pose is held in one location. (2) Dynamic Pose Hand pose changes in one location.  ... 
doi:10.1145/3010915.3010955 dblp:conf/ozchi/FarimanAKH16 fatcat:7gum36uitnge3lxob37t6wzw7i

Balancing and walking using full dynamics LQR control with contact constraints

Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
2016 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)  
In this paper, we study the capabilities of a simple approach based on contact consistent LQR controllers designed around key poses to control various tasks on a humanoid robot.  ...  Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids.  ...  This cost is then used as the objective in an inverse dynamics controller, which is implemented using a QP solved at each control cycle.  ... 
doi:10.1109/humanoids.2016.7803255 dblp:conf/humanoids/MasonRSR16 fatcat:4v3q3z7j7zevdmgpjlvetcczqa

Well-Posedness of Reset Control Systems as State-Dependent Impulsive Dynamical Systems

Alfonso Baños, Juan I. Mulero
2012 Abstract and Applied Analysis  
A sufficient condition is developed for a reset system to have well-posed resetting times, which is also a sufficient condition for avoiding Zeno solutions and, thus, for a reset control system to be well-posed  ...  Reset control systems are a special type of state-dependent impulsive dynamic systems, in which the time evolution depends both on continuous dynamics between resets and the discrete dynamics corresponding  ...  Acknowledgment This work has been supported in part by FEDER funds and the Spanish Government Ministerio de Ciencia y Innovacion under project DPI2010-20466-C02-02.  ... 
doi:10.1155/2012/808290 fatcat:nfm2jqhnvjcgrkvilbig4eyjhi

Layered dynamic control for interactive character swimming

Po-Feng Yang, Joe Laszlo, Karan Singh
2004 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation - SCA '04  
Our results show layered dynamic control to be an effective adaptive control technique in well conditioned physical simulations such as swimming, where simulation states resulting from control errors are  ...  This paper proposes a layered strategy for controlling character motion in a dynamically varying environment. We illustrate this approach in the context of a physically simulated human swimmer.  ...  The animation algorithm is based on independent layers of dynamic control, which is shown to be an effective strategy for simulated characters in well conditioned environments (where errors in control  ... 
doi:10.1145/1028523.1028529 fatcat:kgm3isl3angw5hbrzfjqxwcqxm

Composing Dynamical Systems to Realize Dynamic Robotic Dancing [chapter]

Shishir Kolathaya, Wen-Loong Ma, Aaron D. Ames
2015 Springer Tracts in Advanced Robotics  
These formalisms are illustrated in the case of dynamic dancing; a collection of ten poses are connected through dynamic transitions obtained via virtual constraints, and transitions through the graph  ...  Given any two poses of the robot, we utilize this low-dimensional representation to connect these poses through a dynamic transition.  ...  The two poses with the transition is depicted separately in Fig. 4 .We can accordingly define the meta-dynamical system in the following manner: Discrete structure and poses.  ... 
doi:10.1007/978-3-319-16595-0_25 fatcat:bxatzhcqebf6nkrmfhtretrh5u

Research on Optimal Sliding Mode Pose Control for a Six-DOF Air-Bearing Simulation Platform System

Yun He, Zhigang Xu, Mingyi Yang, Yongli Xu, Junyi Wang
2015 IFAC-PapersOnLine  
We also proposed an optimal pose control method which method combines the sliding mode control with the optimal control theory in this paper.  ...  We also proposed an optimal pose control method which method combines the sliding mode control with the optimal control theory in this paper.  ...  Fig. 4 . 4 The effectiveness testing experimental system. experiment mainly includes two parts: the motion control of the normal pose and the dynamic control of the big rolling angle pose.  ... 
doi:10.1016/j.ifacol.2015.12.067 fatcat:ynbtp5ff6baexf2n4gsmrlflea

Page 245 of Automation and Remote Control Vol. 20, Issue 2 [page]

1959 Automation and Remote Control  
specially made for these objects, At present, the problem is often posed in a similar manner which makes the dynamic calculations predominant, For anyone, however, who observes the development of regulator  ...  The problem of finding the correct method of placing the control elements consists,in the first instance, in choosing an optimum method of “conducting® the process, of controlling it.  ... 

Dynamic Markers: UAV landing proof of concept [article]

Raul Acuna, Volker Willert
2019 arXiv   pre-print
Hence, we realize a tight coupling between the visual pose control of the mobile robot and the appearance of the dynamic fiducial marker.  ...  We present a control scheme to dynamically change the appearance of the marker in order to increase the range of detection and to assure a better accuracy on the close range.  ...  Dynamic marker controller A dynamic marker is a fiducial marker that can be controlled in order to optimize the image features extraction process and posterior pose estimation.  ... 
arXiv:1709.04981v2 fatcat:br4g2i6ztnfavhqxupy2xiss5m

Sliding-mode-based Relative Pose Synchronous Control in Space Autonomous Rendezvous

Wenhua Cheng, Yasheng Zhang, Hong Yao
2016 Journal of Automation and Control Engineering  
In this paper, the pose synchronization control characteristics are analyzed. Then, the sliding mode surface function and control law are designed, and the feasibilities are proved.  ...  After that, via the simulation, pose synchronization control can be achieved with the sliding mode control law.  ...  Relative Pose Dynamic ModelRelative pose dynamic model as follows [15] : Figure 2 .Figure 3 . 23 Relative Relative attitude curve = diag[ 0 . 0 005 0.005 0.005 0.005 0.005 0.005 0.005] = diag[0.02  ... 
doi:10.18178/joace.4.5.375-379 fatcat:vtsi5q6f35bhjjivrkz7pn2y6m

Task-Space Admittance Controller with Adaptive Inertia Matrix Conditioning

Mariana de Paula Assis Fonseca, Bruno Vilhena Adorno, Philippe Fraisse
2021 Journal of Intelligent and Robotic Systems  
Moreover, during physical interactions, appropriate pose controllers are usually based on the robot dynamics, in which the ill-conditioning of the joint-space inertia matrix may lead to poor performance  ...  When the control is not precise, large interaction forces may appear due to disturbed end-effector poses, resulting in unsafe interactions.  ...  The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material.  ... 
doi:10.1007/s10846-020-01275-0 fatcat:apwwptqqv5gbpjygq6sst3stxq

Safe Speed Control and Collision Probability Estimation Under Ego-Pose Uncertainty for Autonomous Vehicle [article]

Vladislav Kibalov, Oleg Shipitko
2020 arXiv   pre-print
In this paper, we propose a speed control system that estimates a collision probability taking into account static and dynamic obstacles as well as ego-pose uncertainty and chooses the maximum safe speed  ...  For that, the planned trajectory is converted by the control system into control signals that form input for the dynamic vehicle model. The model predicts a real vehicle path.  ...  The module structure is shown in Fig. 3 . Trajectory Prediction Module combines the vehicle motion control system (CS) consisting of trajectory and speed controllers and a dynamic vehicle model.  ... 
arXiv:2003.00675v1 fatcat:b7f2ajsznzgqnfvpiemutu6w3i

High Performance Motion-Planner Architecture for Hardware-In-the-Loop System Based on Position-Based-Admittance-Control

Francesco La Mura, Giovanni Todeschini, Hermes Giberti
2018 Robotics  
In addition to well known real-time Hardware-In-the-Loop (HIL) issues, the particular application presented has stringent safety requirements of the HIL equipment and difficult to predict operating conditions  ...  planning, based on buffer management and Time-base control, and advanced high level safety algorithms, implemented in a rapid real-time control architecture.  ...  The time-base control works with a default index distance of 2, thus, in default conditions, the total delay due to the buffer management is four poses, for reasons of internal logic, and is equivalent  ... 
doi:10.3390/robotics7010008 fatcat:arsaqzhguff4fpgjnchxjoepue

3D Ego-Pose Estimation via Imitation Learning [chapter]

Ye Yuan, Kris Kitani
2018 Lecture Notes in Computer Science  
Ego-pose estimation, i.e., estimating a person's 3D pose with a single wearable camera, has many potential applications in activity monitoring.  ...  Motivated by this, we propose a novel control-based approach to model human motion with physics simulation and use imitation learning to learn a videoconditioned control policy for ego-pose estimation.  ...  This work was sponsored in part by JST CREST (JP-MJCR14E1) and IARPA (D17PC00340). 3D Ego-Pose Estimation via Imitation Learning  ... 
doi:10.1007/978-3-030-01270-0_45 fatcat:e7ib2zmh4vav3a5grofm42xy64

On Sensor Switching Visual Servoing

Kolja Kuhnlenz, Martin Buss
2008 International Journal of Optomechatronics  
The contribution are stable visual servoing strategies which facilitate instantaneous adjustments of control performance and dynamical device switches in case of task requirements or sensor breakdown.  ...  This article investigates dynamical camera switching during visual servoing tasks using multicamera systems considering image-based and position-based Jacobian transpose control schemes.  ...  This work has been supported in part by the German Research Foundation (DFG) grant BU 1043/5 and the DFG excellence initiative research cluster Cognition for Technical Systems -CoTeSys, see also www.cotesys.org  ... 
doi:10.1080/15599610802301458 fatcat:pfxpr5fwk5ekhjdzir7rlrjipi
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