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Pedestrian Models for Autonomous Driving Part II: high level models of human behaviour [article]

Fanta Camara, Nicola Bellotto, Serhan Cosar, Florian Weber, Dimitris Nathanael, Matthias Althoff, Jingyuan Wu, Johannes Ruenz, André Dietrich, Gustav Markkula, Anna Schieben, Fabio Tango, Natasha Merat (+1 others)
2020 arXiv   pre-print
This self-contained Part II covers the higher levels of this stack, consisting of models of pedestrian behaviour, from prediction of individual pedestrians' likely destinations and paths, to game theoretic  ...  This narrative review article is Part II of a pair which together survey the current technology stack involved in this process, organising recent research into a hierarchical taxonomy ranging from low  ...  into the robot path planner.  ... 
arXiv:2003.11959v1 fatcat:acjjwohahvdlxgy56j45fjtkdq

Worst case braking trajectories for robotic motion simulators

Andreas Labusch, Tobias Bellmann, Karan Sharma, Johann Bals
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
Motion simulators based on industrial robots can produce high dynamic accelerations and velocities compared to classical hydraulic hexapod systems.  ...  The dynamical and mechanical limits of the robot are considered as constraints of the optimization criterion.  ...  and the availability of real data.  ... 
doi:10.1109/icra.2014.6907333 dblp:conf/icra/LabuschBSB14 fatcat:6gdslnhfavgqpchryiropvc6wu

Kinematically optimal catching a flying ball with a hand-arm-system

B Bauml, T Wimbock, G Hirzinger
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
A robotic ball-catching system built from a multipurpose 7-DOF lightweight arm (DLR-LWR-III) and a 12 DOF four-fingered hand (DLR-Hand-II) is presented.  ...  The high computational demands of an online realtime optimization are met by parallel computation on distributed computing resources (a cluster with 32 CPU cores).  ...  Acknowledgements: We thank the arm and hand development teams.  ... 
doi:10.1109/iros.2010.5651175 dblp:conf/iros/BaumlWH10 fatcat:j5mju5jvjjf23fmwu5jmbluj4a

Advanced path following control of an overactuated robotic vehicle

Peter Ritzer, Christoph Winter, Jonathan Brembeck
2015 2015 IEEE Intelligent Vehicles Symposium (IV)  
The work concludes by a simulative evaluation of the controller performance.  ...  Furthermore a tracking controller based on I/O linearization and quadratic programming based control allocation is proposed which allows employing the vehicle s overactuation in an optimal manner.  ...  ACKNOWLEDGMENT The authors express their gratitude to the ROboMObil team and the head of the institute Johann Bals for their support.  ... 
doi:10.1109/ivs.2015.7225834 dblp:conf/ivs/RitzerWB15 fatcat:2tp5xgdsrffkbkefmpbdeyu5m4

Adaptive Direct Teaching Control with Variable Load of the Lower Limb Rehabilitation Robot (LLR-II)

Xincheng Wang, Hongbo Wang, Xinyu Hu, Yu Tian, Musong Lin, Hao Yan, Jianye Niu, Li Sun
2021 Machines  
In addition, the control law is simulated and verified.  ...  In this paper, an adaptive direct teaching function with variable load that can be applied to the sitting/lying lower limb rehabilitation robot-II (LLR-II) is proposed.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/machines9080142 fatcat:hr6mv7lrybgcvg57g2zf7ww3ku

Integrated motion and clasp planning with virtual linking

Johannes A. Stork, Florian T. Pokorny, Danica Kragic
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this work, we address the problem of simultaneous clasp and motion planning on unknown objects with holes.  ...  The approach is tested in simulation using different robot hands and various real-world objects.  ...  II.  ... 
doi:10.1109/iros.2013.6696782 dblp:conf/iros/StorkPK13 fatcat:57oemkkahnbqpmjmcailk3k5s4

Optimization-based generation and experimental validation of optimal walking trajectories for biped robots

Alexander Werner, Roberto Lampariello, Christian Ott
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The results of the optimization are applied to a real robot, with the aid of a suitable stabilizing controller. The final gain in optimized cost is assessed, for the real system.  ...  In this paper the generation of walking gaits for biped robots is addressed as a nonlinear optimization problem.  ...  Fig. 1 . 1 Simulation environment for the DLR Biped robot: two samples of an optimized trajectory with different step length. Top row: result with constraint knee joint angle.  ... 
doi:10.1109/iros.2012.6386154 dblp:conf/iros/WernerLO12 fatcat:n3bai6bjz5hvnfooqp2koawyyy

Exploiting structure in two-armed manipulation tasks for humanoid robots

F Zacharias, D Leidner, F Schmidt, C Borst, G Hirzinger
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
For execution on the real robot a violation of the rigid body model used in path planners had to be addressed.  ...  Using a simple, yet expandable experimentation scenario, the resulting recommendations for parameterizing path planners are verified on a humanoid robot.  ...  [5] combine the inverse kinematics for a humanoid robot with RRT-based motion planning.  ... 
doi:10.1109/iros.2010.5651121 dblp:conf/iros/ZachariasLSBH10 fatcat:nbmofg6okff6zalni3vuowzj6m

Real-time capable path planning for energy management systems in future vehicle architectures

Jonathan Brembeck, Christoph Winter
2014 2014 IEEE Intelligent Vehicles Symposium Proceedings  
In this paper an energy optimal path planning and velocity profile generation for our highly maneuverable Robotic Electric Vehicle research platform ROboMObil is presented.  ...  The resulting trajectory is then fed forward to a lower level time independent path following control [2] that calculates the motion demands for our energy optimal control allocation.  ...  ACKNOWLEDGMENT The authors express their gratitude to Peter Ritzer for supporting the investigations, especially for providing a time independent path following control to connect the top and the middle  ... 
doi:10.1109/ivs.2014.6856456 dblp:conf/ivs/BrembeckW14 fatcat:ndvh4wegpfa7hnb7rx3zdqoseq

Real-time reactive motion generation based on variable attractor dynamics and shaped velocities

S Haddadin, H Urbanek, S Parusel, D Burschka, J Rossmann, A Albu-Schaffer, G Hirzinger
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The method is thought as the locally reactive realtime motion generator connecting control, collision detection and reaction, and global path planning.  ...  The proposed algorithm can, due to its low complexity, run in the inner most control loop of the robot, which is absolutely crucial for safe Human Robot Interaction.  ...  Of course, global planning methods have to generate some valid path for the coarse motion of the robot, but we believe absolute optimality and absolute collision avoidance have not the highest priority  ... 
doi:10.1109/iros.2010.5650246 dblp:conf/iros/HaddadinUPBRAH10 fatcat:nja7zxei7nbw7i2juy545gqhji

A multimodal training platform for minimally invasive robotic surgery

Rainer Konietschke, Andreas Tobergte, Carsten Preusche, Paolo Tripicchio, Emanuele Ruffaldi, Sabine Webel, Ulrich Bockholt
2010 19th International Symposium in Robot and Human Interactive Communication  
This paper gives an overview of a multimodal training platform developed for minimally invasive robotic surgery, based on the DLR MiroSurge system.  ...  The training platform shares the same surgical operator workstation as MiroSurge and simulates the behaviour of the telemanipulator arms and the surgical instruments.  ...  The training platform is based on DLR MiroSurge and shares the same operator console.  ... 
doi:10.1109/roman.2010.5598608 dblp:conf/ro-man/KonietschkeTPTRWB10 fatcat:mbu6ebazibbm5o6nlkd6qpnq6q

Path Planning Based on ADFA⋆ Algorithm for Quadruped Robot

Li Zhe, Li Yibin, Rong Xuewen., Zhang Hui
2019 IEEE Access  
At present, the path-planning algorithm based on the grid map is generally adopted in the field of quadruped robot and the obtained environmental information is represented by a standardized grid map.  ...  Path-planning algorithms based on raster maps often equate robots with particles, causing problems, such as path blocking. The FA * algorithm adds raster tolerance to expand obstacles.  ...  The motion of the robot can be made more dynamic by optimizing the dynamics of the robot.  ... 
doi:10.1109/access.2019.2920420 fatcat:jkoawnrmhzdqlcgfmmnf5uuxrm

Catching flying balls with a mobile humanoid: System overview and design considerations

Berthold Bauml, Oliver Birbach, Thomas Wimbock, Udo Frese, Alexander Dietrich, Gerd Hirzinger
2011 2011 11th IEEE-RAS International Conference on Humanoid Robots  
Fast perception, a good catching strategy and whole body path planning and control are important, but their tight interplay enabled by an appropriate system architecture is essential.  ...  ., the arms, the torso, and the mobile platform, are used for the reaching motion and the system works completely wirelessly using only onboard sensing.  ...  Acknowledgements: We thank the whole Justin hardware-team and Florian Schmidt for providing the timesync-demon.  ... 
doi:10.1109/humanoids.2011.6100837 dblp:conf/humanoids/BaumlBWFDH11 fatcat:mjwe54j76bggplqde6wkr4ms5q

Sequential trajectory re-planning with tactile information gain for dexterous grasping under object-pose uncertainty

Claudio Zito, Marek S. Kopicki, Rustam Stolkin, Christoph Borst, Florian Schmidt, Maximo A. Roa, Jeremy L. Wyatt
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The method is demonstrated in trials with simulated robots.  ...  Dexterous grasping of objects with uncertain pose is a hard unsolved problem in robotics. This paper solves this problem using information gain re-planning.  ...  Since physics-based simulators are hard to calibrate, we use i) a Nvidia Physxbased simulator, [11] , and ii) OpenRave-based, [16] , Justin Simulator developed at DLR for control and visualisation of  ... 
doi:10.1109/iros.2013.6696930 dblp:conf/iros/ZitoKSBSRW13 fatcat:tzhzoqwsqzarfodpxik6biuyge

Continuous Motion Planning for Service Robots with Multiresolution in Time [chapter]

Ricarda Steffens, Matthias Nieuwenhuisen, Sven Behnke
2015 Advances in Intelligent Systems and Computing  
Our approach is based on stochastic trajectory optimization for motion planning (STOMP) and designed to decrease the optimization time in order to enable frequent replanning.  ...  We present an approach to continuous motion planning with multiresolution in time.  ...  STOMP Unlike sampling-based motion planners, STOMP defines the given motion planning problem as an optimization problem.  ... 
doi:10.1007/978-3-319-08338-4_16 fatcat:ypfirlal6rai3pvwpuo4orwghi
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