Academic literature on the topic 'Knowledge related to joint task and motion planning'
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Journal articles on the topic "Knowledge related to joint task and motion planning":
Shi, Ye, Bin Liang, and Xue Qian Wang. "High Accuracy Attitude Regulation of Spacecraft Using Arm Motion." Applied Mechanics and Materials 313-314 (March 2013): 470–74. http://dx.doi.org/10.4028/www.scientific.net/amm.313-314.470.
Chowdhury, Suman K., Ryan M. Byrne, Yu Zhou, Ameet Aiyangar, and Xudong Zhang. "Lumbar Facet Joint Kinematics and Load Effects During Dynamic Lifting." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 61, no. 1 (September 2017): 976–80. http://dx.doi.org/10.1177/1541931213601726.
Nakatake, Jun, Hideki Arakawa, Takuya Tajima, Shigeaki Miyazaki, and Etsuo Chosa. "Age- and sex-related differences in upper-body joint and endpoint kinematics during a drinking task in healthy adults." PeerJ 11 (December 19, 2023): e16571. http://dx.doi.org/10.7717/peerj.16571.
Liu, Chuzhao, Junyao Gao, Yuanzhen Bi, Xuanyang Shi, and Dingkui Tian. "A Multitasking-Oriented Robot Arm Motion Planning Scheme Based on Deep Reinforcement Learning and Twin Synchro-Control." Sensors 20, no. 12 (June 21, 2020): 3515. http://dx.doi.org/10.3390/s20123515.
Sweeten, David, David Palandro, and Lindsey Neuwirth. "Recent Advances by the API Remote Sensing Technical Working Group for Oil Spill Preparedness and Response." International Oil Spill Conference Proceedings 2014, no. 1 (May 1, 2014): 2218–27. http://dx.doi.org/10.7901/2169-3358-2014.1.2218.
Travers, Matthew, Julian Whitman, and Howie Choset. "Shape-based coordination in locomotion control." International Journal of Robotics Research 37, no. 10 (March 24, 2018): 1253–68. http://dx.doi.org/10.1177/0278364918761569.
MOHAN, VISHWANATHAN, and PIETRO MORASSO. "TOWARDS REASONING AND COORDINATING ACTION IN THE MENTAL SPACE." International Journal of Neural Systems 17, no. 04 (August 2007): 329–41. http://dx.doi.org/10.1142/s0129065707001172.
Krawczyk, Maciej, Małgorzata Syczewska, and Ewa Szczerbik. "Gait kinematics and clinical test changes in post-stroke patients during rehabilitation. Preliminary results of 12 patients of randomized clinical trial." Advances in Rehabilitation 26, no. 1 (March 1, 2012): 13–18. http://dx.doi.org/10.2478/rehab-2013-0025.
Nakazawa, Masaru. "Special Issue on Handling of Flexible Object." Journal of Robotics and Mechatronics 10, no. 3 (June 20, 1998): 167–69. http://dx.doi.org/10.20965/jrm.1998.p0167.
Liang, Keyao, Fusheng Zha, Wei Guo, Shengkai Liu, Pengfei Wang, and Lining Sun. "Motion planning framework based on dual-agent DDPG method for dual-arm robots guided by human joint angle constraints." Frontiers in Neurorobotics 18 (February 22, 2024). http://dx.doi.org/10.3389/fnbot.2024.1362359.
Dissertations / Theses on the topic "Knowledge related to joint task and motion planning":
Léoty, Florent. "Vers le couplage sémantique de planifications de tâches et de trajectoires pour la validation de tâches complexes sous fortes contraintes spatiales." Electronic Thesis or Diss., Toulouse, INPT, 2023. http://www.theses.fr/2023INPT0135.
To remain competitive, manufacturers need to reduce the costs and development times of their new products. Current products are increasingly integrated, smaller, lighter and more energyefficient. They are more difficult to design and have to be assembled, maintained and disassembled under very high geometric constraints. Traditionally, during the design phase, the CAD model of the product is established, then the physical parts of the product are manufactured, to discover all too often that some or all of the tasks associated with the product's life cycle are difficult or impossible to carry out. If these problems are detected too late, the product design has to be reconsidered. The aim of this thesis is to validate, at the design stage, all the tasks associated to the PLM using digital simulation before the physical prototypes are manufactured. This would make it possible to reduce development times and costs and to aim for more environmentally-friendly manufacturing processes by reducing the number of physical prototypes manufactured. A key step in the simulation-based validation of PLM tasks is to find a feasible collision-free trajectory in order to prove their feasibility. Since the 1980s, the robotics community has been using automatic path planning methods to solve this problem. However, these methods have limitations, mainly linked to the complexity of the environment models, which are traditionally purely geometric. In very complex environments, path planners can propose trajectories that are not very relevant, in times that can be very long, or even fail. To overcome these limitations, some works has considered collaborative human-planner approaches, but these rarely enable continuous interaction. On the other hand, VR techniques allow simulation with a human operator in the loop, immersed in the virtual environment and interacting with it. An original approach linking automatic path planning and VR has been developed at LGP, taking advantage of the computing power of computers and the cognitive abilities of a human operator. However, in this approach, the assistance offered to the operator is not oriented towards the task to be carried out. In order to be able to reason at the level of the task to be carried out, task planning and path planning must be considered together, and attention must be paid to the ability to model information relating to the task and to reason about these information; ontologies are a promising tool. The aim of this thesis is to develop a common framework for the semantic coupling of path and task planners for manipulation assistance in VR or robotics. Within this framework, we propose two main contributions: The first contribution of this work proposes two original ontologies. The first, ENVOn-2, concerns the modelling of the environment in which a manipulation task takes place. The second, TAMPO, is an ontology developed for jointly use path and task planning. The second contribution concerns the development of a methodology for the semantic coupling of task and trajectory planners. This methodology, through the joint use of the two ontologies, makes it possible to improve the path planning of a primitive action while proposing a task plan (or plans) that is (are) relevant to the manipulation being carried out. These developments were then validated using a variety of scenarios of increasing complexity. The results obtained demonstrate the relevance of the approach
Zhao, Yingshen. "An ontology-based approach towards coupling task and path planning for the simulation of manipulation tasks." Thesis, Toulouse, INPT, 2019. http://www.theses.fr/2019INPT0065.
This work deals with the simulation and the validation of complex manipulation tasks under strong geometric constraints in virtual environments. The targeted applications relate to the industry 4.0 framework; as up-to-date products are more and more integrated and the economic competition increases, industrial companies express the need to validate, from design stage on, not only the static CAD models of their products but also the tasks (e.g., assembly or maintenance) related to their Product Lifecycle Management (PLM). The scientific community looked at this issue from two points of view: - Task planning decomposes a manipulation task to be realized into a sequence of primitive actions (i.e., a task plan) - Path planning computes collision-free trajectories, notably for the manipulated objects. It traditionally uses purely geometric data, which leads to classical limitations (possible high computational processing times, low relevance of the proposed trajectory concerning the task to be performed, or failure); recent works have shown the interest of using higher abstraction level data. Joint task and path planning approaches found in the literature usually perform a classical task planning step, and then check out the feasibility of path planning requests associated with the primitive actions of this task plan. The link between task and path planning has to be improved, notably because of the lack of loopback between the path planning level and the task planning level: - The path planning information used to question the task plan is usually limited to the motion feasibility where richer information such as the relevance or the complexity of the proposed path would be needed; - path planning queries traditionally use purely geometric data and/or “blind” path planning methods (e.g., RRT), and no task-related information is used at the path planning level Our work focuses on using task level information at the path planning level. The path planning algorithm considered is RRT; we chose such a probabilistic algorithm because we consider path planning for the simulation and the validation of complex tasks under strong geometric constraints. We propose an ontology-based approach to use task level information to specify path planning queries for the primitive actions of a task plan. First, we propose an ontology to conceptualize the knowledge about the 3D environment in which the simulated task takes place. The environment where the simulated task takes place is considered as a closed part of 3D Cartesian space cluttered with mobile/fixed obstacles (considered as rigid bodies). It is represented by a digital model relying on a multilayer architecture involving semantic, topologic and geometric data. The originality of the proposed ontology lies in the fact that it conceptualizes heterogeneous knowledge about both the obstacles and the free space models. Second, we exploit this ontology to automatically generate a path planning query associated to each given primitive action of a task plan. Through a reasoning process involving the primitive actions instantiated in the ontology, we are able to infer the start and the goal configurations, as well as task-related geometric constraints. Finally, a multi-level path planner is called to generate the corresponding trajectory. The contributions of this work have been validated by full simulation of several manipulation tasks under strong geometric constraints. The results obtained demonstrate that using task-related information allows better control on the RRT path planning algorithm involved to check the motion feasibility for the primitive actions of a task plan, leading to lower computational time and more relevant trajectories for primitive actions
Conference papers on the topic "Knowledge related to joint task and motion planning":
Du, Bin, Jing Zhao, and Chunyu Song. "Optimal Base Placement and Motion Planning for Mobile Manipulators." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70600.
Budolak, Daniel, Raghuraj Chauhan, and Pinhas Ben-Tzvi. "Semi-Autonomous Teleoperation, Guidance, and Obstacle Avoidance With Path Adherence." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-97529.