Relevant bibliographies by topics / Robots Motion

Academic literature on the topic 'Robots Motion'

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Published: 4 June 2021
Last updated: 28 January 2023

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Journal articles on the topic "Robots Motion"

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Yan, Feng, Haitao Gao, Lei Zhang, and Yali Han. "Design and motion analysis of multi-motion mode pipeline robot." Journal of Physics: Conference Series 2246, no. 1 (April 1, 2022): 012029. http://dx.doi.org/10.1088/1742-6596/2246/1/012029.

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Abstract Aiming to improve the adaptability level of single motion form pipeline robots, a wheeled pipeline robot with multiple motion modes is designed. The overall scheme of the pipeline robot is given. The self-adaptive diameter-changing mechanism, wheel displacement mechanism, and turning mechanism are designed. The motion and mechanical models of pipeline robots during travelling are established; on this basis, the robot‘s main body structure is optimised.
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Choi, Jongmyung, Youngho Lee, Young-Jae Ryoo, Jongsun Choi, and Jaeyoung Choi. "Action Petri Net for Specifying Robot Motions." International Journal of Humanoid Robotics 11, no. 04 (December 2014): 1442004. http://dx.doi.org/10.1142/s0219843614420043.

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Smart robots and smart services using robots are promising research fields in academia and industry. However, those smart services are based on basic motions of the robot, such as grabbing objects, and moving them to a designated place. In this paper, we propose a way to produce new motions without programming, from existing motions, through a motion composition method. Our motion composition method utilizes an Action Petri net, which is a variance of a Petri net, with both interpolation and composition operations on a transition. In the Action Petri net, a place is a posture or a moving action of a robot, and it is represented as a diagonal matrix with the robot's joint motor values. Robot motions can be generated from one posture to another posture, and from composing different postures and moving actions. All operations performed to generate new motions are carried out as matrix manipulation operations. Our approach provides a formal method to generate new motions from existing motions, and a practical method to create new motions in low level motion control, without programming.
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Huang, Yonghua, Qizheng Liao, Lei Guo, and Shimin Wei. "Simple realization of balanced motions under different speeds for a mechanical regulator-free bicycle robot." Robotica 33, no. 9 (May 15, 2014): 1958–72. http://dx.doi.org/10.1017/s026357471400112x.

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SUMMARYMechanical regulator-free bicycle robots have lighter weight and fewer actuators than the traditional regulator-based bicycle robots. In order to deal with the difficulty of maintaining balance for this kind of bicycle robot, we consider a front-wheel drive and mechanical regulator-free bicycle robot. We present the methodologies for realizing the robot's ultra-low-speed track-stand motion, moderate-speed circular motion and high-speed rectilinear motion. A simplified dynamics of the robot is developed using three independent velocities. From the dynamics, we suggest there may be an underactuated rolling angle in the system. Our balancing strategies are inspired by human riders' experience, and our control rules are based on the bicycle system's underactuated dynamics. In the case of track-stand and circular motion, we linearize the frame's rolling angle and configure the robot to maintain balance by the front-wheel's motion with a fixed front-bar turning angle. In the case of the rectilinear motion, we linearize both front-bar steering angle and front-wheel rotating angle, and configure the system to maintain balance by the front-bar's turning with a constant front-wheel rotating rate. Numerical simulations and physical experiments are given together to validate the effectiveness of our control strategies in realizing the robot's proposed three motions.
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Yu, Zhong Hai. "Generic Technology of Home Service Robot." Applied Mechanics and Materials 121-126 (October 2011): 3330–34. http://dx.doi.org/10.4028/www.scientific.net/amm.121-126.3330.

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The paper briefly looks back on current research situation of home service robots. It takes a home nursing robot as example to study and discuss some key generic technologies of home service robots. It generally overviewed robot’s mobile platform technology, modular design, reconfigurable robot technique, motion control, sensor technologies, indoor robot’s navigation and localization technology indoor, intelligentization, and robot’s technology standardization. Some the measures of technology standardization of home service robots have been put forward. It has realistic signification for industrialization of home service robots.
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Karwowski, Waldemar, T. Plank, M. Parsaei, and M. Rahimi. "Human Perception of the Maximum Safe Speed of Robot Motions." Proceedings of the Human Factors Society Annual Meeting 31, no. 2 (September 1987): 186–90. http://dx.doi.org/10.1177/154193128703100211.

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A laboratory experiment was conducted to determine the maximum speeds of robot arm motion considered by the subjects as safe for human operators working in a close proximity of the robot's working envelope. Twenty-nine college students (16 males and 13 females) participated in the study as monitors of the simulated assembly tasks performed by two industrial robots of different size and work capabilities. The results show that the speed selection process depends on the robot's physical size and its initial speed at the start of the adjustment process. Subjects selected higher speeds as “safe” if they were first exposed to the maximum speed of the robot, and significantly lower values when the initial speed of the robot's actions was only 5% of maximum. It was also shown that the subject's previous exposure to robots and the level of their knowledge of industrial robots highly affected their perception of safe speeds of robot motions. Such effects differ, however, between males and females.
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LIU, CHAORAN, CARLOS T. ISHI, HIROSHI ISHIGURO, and NORIHIRO HAGITA. "GENERATION OF NODDING, HEAD TILTING AND GAZING FOR HUMAN–ROBOT SPEECH INTERACTION." International Journal of Humanoid Robotics 10, no. 01 (March 2013): 1350009. http://dx.doi.org/10.1142/s0219843613500096.

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Head motion occurs naturally and in synchrony with speech during human dialogue communication, and may carry paralinguistic information, such as intentions, attitudes and emotions. Therefore, natural-looking head motion by a robot is important for smooth human–robot interaction. Based on rules inferred from analyses of the relationship between head motion and dialogue acts, this paper proposes a model for generating head tilting and nodding, and evaluates the model using three types of humanoid robot (a very human-like android, "Geminoid F", a typical humanoid robot with less facial degrees of freedom, "Robovie R2", and a robot with a 3-axis rotatable neck and movable lips, "Telenoid R2"). Analysis of subjective scores shows that the proposed model including head tilting and nodding can generate head motion with increased naturalness compared to nodding only or directly mapping people's original motions without gaze information. We also find that an upward motion of a robot's face can be used by robots which do not have a mouth in order to provide the appearance that utterance is taking place. Finally, we conduct an experiment in which participants act as visitors to an information desk attended by robots. As a consequence, we verify that our generation model performs equally to directly mapping people's original motions with gaze information in terms of perceived naturalness.
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Yu, Shiqi, Yoshihiro Nakata, Yutaka Nakamura, and Hiroshi Ishiguro. "Inter-Module Physical Interactions: A Force-Transmissive Modular Structure for Whole-Body Robot Motion." Journal of Robotics and Mechatronics 33, no. 5 (October 20, 2021): 1190–203. http://dx.doi.org/10.20965/jrm.2021.p1190.

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Robots are required to be significantly compliant and versatile to work in unstructured environments. In a number of studies, robots have positively exploited the environments during interactions and completed tasks from a morphological viewpoint. Modular robots can help realize real-world adaptive robots. Researchers have been investigating the actuation, coupling, and communication mechanisms among these robots to realize versatility. However, the diverse force transmission among modules needs to be further studied to achieve the adaptive whole-body dynamics of a robot. In this study, we fabricated a modular robot and proposed the realization of force transmission on this robot, by constructing fluid transferable network systems on the actuation modules. By exploiting the physical property variations of the modular robot, our experimental results prove that the robot’s motion can be changed by switching the connection pattern of the system.
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Yang, Zhiqian, Junfang Xue, and Weiguo Li. "Structural and Passability Analysis of Dual Detection Mode Pipeline Robot." Journal of Physics: Conference Series 2419, no. 1 (January 1, 2023): 012101. http://dx.doi.org/10.1088/1742-6596/2419/1/012101.

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Abstract A new pipeline robot with a dual detection mode is built in order to address the issues with the current oil and gas pipeline inspection robots, such as single detection mode, small pipe diameter adaptation range, poor passing ability, and adaptability of the robots in pipelines. The general design of the robot is presented in this paper and the robot’s general construction and operation principles are discussed. The support system, which combines the main and auxiliary springs to achieve common preloading and force analysis, is organized to meet these goals. This paper designs the detection structure with an angle adjustable function. The robot’s motion and dimension restrictions through the bend pipe are examined concurrently. Experimental verification is then completed. The results of the experiments demonstrate that the robot’s structure design and calculations are reasonable, that the robot’s size and motion constraints analysis in the bend pipe is accurate, and that the robot can successfully pass the bend pipe with R ≥ 1.5D. The study’s findings serve as a guide for the development of prototype robots and subsequent robot simulation experiments.
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Et.al, JIBUM JUNG. "Use of Human Motion Data to Train Wearable Robots." Turkish Journal of Computer and Mathematics Education (TURCOMAT) 12, no. 6 (April 11, 2021): 807–11. http://dx.doi.org/10.17762/turcomat.v12i6.2100.

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Development of wearable robots is accelerating. Walking robots mimic human behavior and must operate without accidents. Human motion data are needed to train these robots. We developed a system for extracting human motion data and displaying them graphically.We extracted motion data using a Perception Neuron motion capture system and used the Unity engine for the simulation. Several experiments were performed to demonstrate the accuracy of the extracted motion data.Of the various methods used to collect human motion data, markerless motion capture is highly inaccurate, while optical motion capture is very expensive, requiring several high-resolution cameras and a large number of markers. Motion capture using a magnetic field sensor is subject to environmental interference. Therefore, we used an inertial motion capture system. Each movement sequence involved four and was repeated 10 times. The data were stored and standardized. The motions of three individuals were compared to those of a reference person; the similarity exceeded 90% in all cases. Our rehabilitation robot accurately simulated human movements: individually tailored wearable robots could be designed based on our data. Safe and stable robot operation can be verified in advance via simulation. Walking stability can be increased using walking robots trained via machine learning algorithms.
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Jia, Yan, Xiao Luo, Baoling Han, Guanhao Liang, Jiaheng Zhao, and Yuting Zhao. "Stability Criterion for Dynamic Gaits of Quadruped Robot." Applied Sciences 8, no. 12 (November 25, 2018): 2381. http://dx.doi.org/10.3390/app8122381.

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Dynamic-stability criteria are crucial for robot’s motion planning and balance recovery. Nevertheless, few studies focus on the motion stability of quadruped robots with dynamic gait, none of which have accurately evaluated the robots’ stability. To fill the gaps in this field, this paper presents a new stability criterion for the motion of quadruped robots with dynamic gaits running over irregular terrain. The traditional zero-moment point (ZMP) is improved to analyze the motion on irregular terrain precisely for dynamic gaits. A dynamic-stability criterion and measurement are proposed to determine the stability state of the robot and to evaluate its stability. The simulation results show the limitations of the existing stability criteria for dynamic gaits and indicate that the criterion proposed in this paper can accurately and efficiently evaluate the stability of a quadruped robot using such gaits.
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Dissertations / Theses on the topic "Robots Motion"

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Sorour, Mohamed. "Motion discontinuity-robust controller for steerable wheeled mobile robots." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS090/document.

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Les robots mobiles à roues orientables gagnent de la mobilité en employant des roues conventionnelles entièrement orientables, comportant deux joints actifs, un pour la direction et un autre pour la conduite. En dépit d'avoir seulement un degré de mobilité (DOM) (défini ici comme degrés de liberté instantanément autorisés DOF), correspondant à la rotation autour du centre de rotation instantané (ICR), ces robots peuvent effectuer des trajectoires planaires complexes de $ 2D $. Ils sont moins chers et ont une capacité de charge plus élevée que les roues non conventionnelles (par exemple, Sweedish ou Omni-directional) et, en tant que telles, préférées aux applications industrielles. Cependant, ce type de structure de robot mobile présente des problèmes de contrôle textit {basic} difficiles de la coordination de la direction pour éviter les combats d'actionneur, en évitant les singularités cinématiques (ICR à l'axe de la direction) et les singularités de représentation (du modèle mathématique). En plus de résoudre les problèmes de contrôle textit {basic}, cette thèse attire également l'attention et présente des solutions aux problèmes de textit {niveau d'application}. Plus précisément, nous traitons deux problèmes: la première est la nécessité de reconfigurer "de manière discontinue" les articulations de direction, une fois que la discontinuité dans la trajectoire du robot se produit. Une telle situation - la discontinuité dans le mouvement du robot - est plus susceptible de se produire de nos jours, dans le domaine émergent de la collaboration homme-robot. Les robots mobiles qui fonctionnent à proximité des travailleurs humains en mouvement rapide rencontrent généralement une discontinuité dans la trajectoire calculée en ligne. Le second apparaît dans les applications nécessitant que l'angle de l'angle soit maintenu, certains objets ou fonctionnalités restent dans le champ de vision (p. Ex., Pour les tâches basées sur la vision) ou les changements de traduction. Ensuite, le point ICR est nécessaire pour déplacer de longues distances d'un extrême de l'espace de travail à l'autre, généralement en passant par le centre géométrique du robot, où la vitesse du robot est limitée. Dans ces scénarios d'application, les contrôleurs basés sur l'ICR à l'état de l'art conduiront à des comportements / résultats insatisfaisants. Dans cette thèse, nous résolvons les problèmes de niveau d'application susmentionnés; à savoir la discontinuité dans les commandes de vitesse du robot et une planification meilleure / efficace pour le contrôle du mouvement du point ICR tout en respectant les limites maximales de performance des articulations de direction et en évitant les singularités cinématiques et représentatives. Nos résultats ont été validés expérimentalement sur une base mobile industrielle
Steerable wheeled mobile robots gain mobility by employing fully steerable conventional wheels, having two active joints, one for steering, and another for driving. Despite having only one degree of mobility (DOM) (defined here as the instantaneously accessible degrees of freedom DOF), corresponding to the rotation about the instantaneous center of rotation (ICR), such robots can perform complex $2D$ planar trajectories. They are cheaper and have higher load carrying capacity than non-conventional wheels (e.g., Sweedish or Omni-directional), and as such preferred for industrial applications. However, this type of mobile robot structure presents challenging textit{basic} control issues of steering coordination to avoid actuator fighting, avoiding kinematic (ICR at the steering joint axis) and representation (from the mathematical model) singularities. In addition to solving the textit{basic} control problems, this thesis also focuses attention and presents solutions to textit{application level} problems. Specifically we deal with two problems: the first is the necessity to "discontinuously" reconfigure the steer joints, once discontinuity in the robot trajectory occurs. Such situation - discontinuity in robot motion - is more likely to happen nowadays, in the emerging field of human-robot collaboration. Mobile robots working in the vicinity of fast moving human workers, will usually encounter discontinuity in the online computed trajectory. The second appears in applications requiring that some heading angle is to be maintained, some object or feature stays in the field of view (e.g., for vision-based tasks), or the translation verse changes. Then, the ICR point is required to move long distances from one extreme of the workspace to the other, usually passing by the robot geometric center, where the feasible robot velocity is limited. In these application scenarios, the state-of-art ICR based controllers will lead to unsatisfactory behavior/results. In this thesis, we solve the aforementioned application level problems; namely discontinuity in robot velocity commands, and better/efficient planning for ICR point motion control while respecting the maximum steer joint performance limits, and avoiding kinematic and representational singularities. Our findings has been validated experimentally on an industrial mobile base
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Alkhulayfi, Khalid Abdullah. "Vision-Based Motion for a Humanoid Robot." PDXScholar, 2016. https://pdxscholar.library.pdx.edu/open_access_etds/3176.

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The overall objective of this thesis is to build an integrated, inexpensive, human-sized humanoid robot from scratch that looks and behaves like a human. More specifically, my goal is to build an android robot called Marie Curie robot that can act like a human actor in the Portland Cyber Theater in the play Quantum Debate with a known script of every robot behavior. In order to achieve this goal, the humanoid robot need to has degrees of freedom (DOF) similar to human DOFs. Each part of the Curie robot was built to achieve the goal of building a complete humanoid robot. The important additional constraints of this project were: 1) to build the robot from available components, 2) to minimize costs, and 3) to be simple enough that the design can be replicated by non-experts, so they can create robot theaters worldwide. Furthermore, the robot appears lifelike because it executes two main behaviors like a human being. The first behavior is tracking where the humanoid robot uses a tracking algorithm to follow a human being. In other words, the tracking algorithm allows the robot to control its neck using the information taken from the vision system to look at the nearest human face. In addition, the robot uses the same vision system to track labeled objects. The second behavior is grasping where the inverse kinematics (IK) is calculated so the robot can move its hand to a specific coordinate in the surrounding space. IK gives the robot the ability to move its end-effector (hand) closer to how humans move their hands.
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Biddlestone, Scott Richard. "Collaborative Motion for Mobile Platforms." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1357227236.

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Iagnemma, Karl Dubowsky S. "Mobile robots in rough terrain : estimation, motion planning, and control with application to planetary rovers /." Berlin ; New York : Springer, 2004. http://www.loc.gov/catdir/toc/fy0606/2004106986.html.

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Nakhaei, Alireza. "Motion planning and perception : integration on humanoid robots." Thesis, Toulouse, INPT, 2009. http://www.theses.fr/2009INPT043H/document.

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Le chapitre 1 est pour l'essentiel une brève introduction générale qui donne le contexte générale de la planification et présente l'organisation du document dans son ensemble et quelques uns des points clés retenus : robot humanoïde, environnement non statique, perception par vision artificielle, et représentation de cet environnement par grilles d'occupation. Dans le chapitre 2, après une revue de littérature bien menée, l'auteur propose de considérer les points de repère de l'environnement dès la phase de planification de chemin afin de rendre plus robuste l'exécution des déplacements en cas d'évolution de l'environnement entre le moment où la planification est menée et celui où le robot se déplace ( évolution étant entendu comme liée à une amélioration de la connaissance par mise à jour, ou due à un changement de l'environnement lui-même). Le concept est décrit et une formalisation proposée. Le chapitre 3 s'intéresse en détail à la planification dans le cas d'environnements dynamiques. Les méthodes existantes, nombreuses, sont tout d'abord analysées et bien présentées. Le choix est fait ici de décrire l'environnement comme étant décomposé en cellules, regroupant elles-mêmes des voxels, éléments atomiques de la représentation. L'environnement étant changeant, l'auteur propose de réévaluer le plan préétabli à partir d'une bonne détection de la zone qui a pu se trouver modifiée dans l'environnement. L'approche est validée expérimentalement en utilisant une des plateformes robotiques du LAAS qui dispose de bonnes capacités de localisation : le manipulateur mobile Jido étant à ce jour plus performant sur ce plan que l'humanoïde HRP2, c'est lui qui a été utilisé. Ces expérimentations donnent des indications concordantes sur l'efficacité de l'approche retenue. Notons également que la planification s'appuie sur une boite englobante de l'humanoïde, et non pas sur une représentation plus riche (multi-degré-deliberté). En revanche, c'est bien de planification pour l'humanoïde considéré dans toute sa complexité qu'il s'agit au chapitre 4 : on s'intéresse ici à tous les degrés de liberté du robot. L'auteur propose des évolutions de méthodes existantes et en particulier sur la manière de tirer profit de la redondance cinématique. L'approche est bien décrite et permet d'inclure une phase d'optimisation de la posture globale du robot. Des exemples illustrent le propos et sont l'occasion de comparaison avec d'autres méthodes. Le chapitre 5 s'intéresse à la manière de modéliser l'environnement, sachant qu'on s'intéresse ici au cas d'une perception par vision artificielle, et précisément au cas de l'humanoïde, robot d'assurer lui-même cette perception au fur et à mesure de son avancée dans l'environnement. On est donc dans le cadre de la recherche de la meilleure vue suivante qui doit permettre d'enrichir au mieux la connaissance qu'a le robot de son environnement. L'approche retenue fait à nouveau appel à la boite englobante de l'humanoïde et non à sa représentation complète ; il sera intéressant de voir dans le futur ce que pourrait apporter la prise en compte des degrés de liberté de la tête ou du torse à la résolution de ce problème. Le chapitre 6 décrit la phase d'intégration de tous ces travaux sur la plateforme HRP2 du LAAS-CNRS, partie importante de tout travail de roboticien
This thesis starts by proposing a new framework for motion planning using stochastic maps, such as occupancy-grid maps. In autonomous robotics applications, the robot's map of the environment is typically constructed online, using techniques from SLAM. These methods can construct a dense map of the environment, or a sparse map that contains a set of identifiable landmarks. In this situation, path planning would be performed using the dense map, and the path would be executed in a sensor-based fashion, using feedback control to track the reference path based on sensor information regarding landmark position. Maximum-likelihood estimation techniques are used to model the sensing process as well as to estimate the most likely nominal path that will be followed by the robot during execution of the plan. The proposed approach is potentially a practical way to plan under the specific sorts of uncertainty confronted by a humanoid robot. The next chapter, presents methods for constructing free paths in dynamic environments. The chapter begins with a comprehensive review of past methods, ranging from modifying sampling-based methods for the dynamic obstacle problem, to methods that were specifically designed for this problem. The thesis proposes to adapt a method reported originally by Leven et al.. so that it can be used to plan paths for humanoid robots in dynamic environments. The basic idea of this method is to construct a mapping from voxels in a discretized representation of the workspace to vertices and arcs in a configuration space network built using sampling-based planning methods. When an obstacle intersects a voxel in the workspace, the corresponding nodes and arcs in the configuration space roadmap are marked as invalid. The part of the network that remains comprises the set of valid candidate paths. The specific approach described here extends previous work by imposing a two-level hierarchical structure on the representation of the workspace. The methods described in Chapters 2 and 3 essentially deal with low-dimensional problems (e.g., moving a bounding box). The reduction in dimensionality is essential, since the path planning problem confronted in these chapters is complicated by uncertainty and dynamic obstacles, respectively. Chapter 4 addresses the problem of planning the full motion of a humanoid robot (whole-body task planning). The approach presented here is essentially a four-step approach. First, multiple viable goal configurations are generated using a local task solver, and these are used in a classical path planning approach with one initial condition and multiple goals. This classical problem is solved using an RRT-based method. Once a path is found, optimization methods are applied to the goal posture. Finally, classic path optimization algorithms are applied to the solution path and posture optimization. The fifth chapter describes algorithms for building a representation of the environment using stereo vision as the sensing modality. Such algorithms are necessary components of the autonomous system proposed in the first chapter of the thesis. A simple occupancy-grid based method is proposed, in which each voxel in the grid is assigned a number indicating the probability that it is occupied. The representation is updated during execution based on values received from the sensing system. The sensor model used is a simple Gaussian observation model in which measured distance is assumed to be true distance plus additive Gaussian noise. Sequential Bayes updating is then used to incrementally update occupancy values as new measurements are received. Finally, chapter 6 provides some details about the overall system architecture, and in particular, about those components of the architecture that have been taken from existing software (and therefore, do not themselves represent contributions of the thesis). Several software systems are described, including GIK, WorldModelGrid3D, HppDynamicObstacle, and GenoM
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Gu, Lifang. "Visual guidance of robot motion." University of Western Australia. Dept. of Computer Science, 1996. http://theses.library.uwa.edu.au/adt-WU2003.0004.

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Future robots are expected to cooperate with humans in daily activities. Efficient cooperation requires new techniques for transferring human skills to robots. This thesis presents an approach on how a robot can extract and replicate a motion by observing how a human instructor conducts it. In this way, the robot can be taught without any explicit instructions and the human instructor does not need any expertise in robot programming. A system has been implemented which consists of two main parts. The first part is data acquisition and motion extraction. Vision is the most important sensor with which a human can interact with the surrounding world. Therefore two cameras are used to capture the image sequences of a moving rigid object. In order to compress the incoming images from the cameras and extract 3D motion information of the rigid object, feature detection and tracking are applied to the images. Corners are chosen as the main features because they are more stable under perspective projection and during motion. A reliable corner detector is implemented and a new corner tracking algorithm is proposed based on smooth motion constraints. With both spatial and temporal constraints, 3D trajectories of a set of points on the object can be obtained and the 3D motion parameters of the object can be reliably calculated by the algorithm proposed in this thesis. Once the 3D motion parameters are available through the vision system, the robot should be programmed to replicate this motion. Since we are interested in smooth motion and the similarity between two motions, the task of the second part of our system is therefore to extract motion characteristics and to transfer these to the robot. It can be proven that the characteristics of a parametric cubic B-spline curve are completely determined by its control points, which can be obtained by the least-squares fitting method, given some data points on the curve. Therefore a parametric cubic B–spline curve is fitted to the motion data and its control points are calculated. Given the robot configuration the obtained control points can be scaled, translated, and rotated so that a motion trajectory can be generated for the robot to replicate the given motion in its own workspace with the required smoothness and similarity, although the absolute motion trajectories of the robot and the instructor can be different. All the above modules have been integrated and results of an experiment with the whole system show that the approach proposed in this thesis can extract motion characteristics and transfer these to a robot. A robot arm has successfully replicated a human arm movement with similar shape characteristics by our approach. In conclusion, such a system collects human skills and intelligence through vision and transfers them to the robot. Therefore, a robot with such a system can interact with its environment and learn by observation.
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Pandey, Saurabh. "Motion planning of free-floating prismatic-jointed robots." Ohio : Ohio University, 1996. http://www.ohiolink.edu/etd/view.cgi?ohiou1178049680.

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Bhutada, Aditya. "Universal Event and Motion Editor for Robots' Theatre." PDXScholar, 2011. https://pdxscholar.library.pdx.edu/open_access_etds/194.

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Most of work on motion of mobile robots is to generate plans for avoiding obstacles or perform some meaningful and useful actions. In modern robot theatres and entertainment robots the motions of the robot are scripted and thus the performance or behavior of the robot is always the same. In this work we want to propose a new approach to robot motion generation. We want our robot to behave more like real people. People do not move in mechanical way like robots. When a human is supposed to execute some motion, these motions are similar to one another but always slightly or not so slightly different. We want to reproduce this property based on the introduced by us new concept of probabilistic regular expression, a method to describe sets of interrelated similar actions instead of single actions. Our goal is not only to create motions for humanoid robots that will look more naturally and less mechanically, but also to program robots that will combine basic movements from certain library in many different and partially random ways. While the basic motions were created ahead of time, their combinations are specified in our new language. Although now our method is only for motions and does not take inputs from sensors into account, in future the language can be extended to input/output sequences, thus the robot will be able to adapt the motion in different ways, to some sets of sequences of input stimuli. The inputs will come from sensors, possibly attached to limbs of controlling humans from whom the patterns of motion will be acquired.
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Tan, Liek Foo. "Motion planning for rigid body robots." Thesis, Monterey, California. Naval Postgraduate School, 1992. http://hdl.handle.net/10945/23971.

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Given a non-holonomic disc model, D, its motion constraints in terms of maximum curvature (K (max)), a set W of rectilinear polygonal obstacles which assemble an office-like environment, and two configurations of S and G in free(W), this thesis investigates the planning of a smooth free path which satisfies the following condition: D is allowed backing up motions at the end portions of the path, but the middle is to be of class C(2) in its entirety. Although the motion planning problem of D amidst polygonal obstacles has been extensively studied, the paths considered are mostly class C(2) and piecewise C(2) only, and are subject only to the K(max) constraint. Typically, such paths consist of straight line segments and circular ars which have curvature discontinuity at the junction points. In order for D to follow such paths physically, D has to stop abruptly at each junction point to change curvature. The C(2) path investigated in this thesis allows non-stopping motion of D. It is also subject to a further K(mas) constraint to avoid turns that exceed the rate of change of curvature constraint. A class of smooth curves called cubic spirals are adopted for planning C(2) paths. Properties of the cubic spiral are examined in detail. A framework of layered motion planning approach is proposed to divide and conquer the motion planning problem. A novel sensor-oriented method is presented. It plans a spine net which facilitates D carry out deviation correction using sonar sensors while following a motion path.
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Balland, Olivier. "Collaborative motion planning of humanoid robots." Thesis, KTH, Reglerteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-148115.

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For a matter of efficiency and robustness, it is often better to use a team of robots instead of a single agent to solve a given problem. A key challenge with multi-robot systems is the collaboration in order to accomplish complex tasks. To coordinate them, we can pre-compute their behavior. However, this method might not be robust to some events such as modification of environment or robots team. To overcome this issue, an adaptive decentralized coordination framework is needed for heterogeneous multiple robot systems. We consider a team of two robots NAOs which can only exchange information when they are close to each other, or via symbols grounded to each embodiment. They are initially in a room a few meters away from each other. The goal is to make them meet and then perform an action such as exchanging an object or some information. In this thesis, we study first robots specifications and adopt tools used for robot control. A tracking method in a simple situation is then described. The robots’ strategy is structured and improved adding obstacles limiting the two agents’ motion. The achieved robust framework allows two humanoid robots to meet, even if one has a problem and can not move.
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Books on the topic "Robots Motion"

1

Workshop, on Visual Motion (1989 Irvine Calif ). Proceedings: Analysis, motion. Washington, D.C: IEEE Computer Society Press, 1989.

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T, Schwartz Jacob, Sharir Micha, and Hopcroft John E. 1939-, eds. Planning, geometry, and complexity of robot motion. Norwood, N.J: Ablex Pub. Corp., 1987.

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Robot motion planning. Boston: Kluwer Academic Publishers, 1991.

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Harada, Kensuke, Eiichi Yoshida, and Kazuhito Yokoi, eds. Motion Planning for Humanoid Robots. London: Springer London, 2010. http://dx.doi.org/10.1007/978-1-84996-220-9.

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Harada, Kensuke, Eiichi Yoshida, and Kazuhito Yokoi. Motion planning for humanoid robots. London: Springer, 2010.

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Canny, J. F., and Zexiang Li. Nonholonomic motion planning. New York: Springer Science+Business Media, LLC, 1993.

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Sadati, Nasser. Hybrid control and motion planning of dynamical legged locomotion. Hoboken, N.J: Wiley, 2012.

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Karamanlis, Vasilios. Mulltivariate motion planning of autonomous robots. Monterey, Calif: Naval Postgraduate School, 1997.

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Tan, Liek Foo. Motion planning for rigid body robots. Monterey, Calif: Naval Postgraduate School, 1992.

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Yu, Junzhi, and Min Tan. Motion Control of Biomimetic Swimming Robots. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-13-8771-5.

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Book chapters on the topic "Robots Motion"

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Wolf, Andreas, and Henrik Schunk. "Grippers – The “App” for Robots." In Grippers in Motion, 46–87. München: Carl Hanser Verlag GmbH & Co. KG, 2018. http://dx.doi.org/10.3139/9781569907153.002.

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Jacobs, Paul, and John Canny. "Planning Smooth Paths for Mobile Robots." In Nonholonomic Motion Planning, 271–342. Boston, MA: Springer US, 1993. http://dx.doi.org/10.1007/978-1-4615-3176-0_8.

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Suárez, R., L. Basañez, and J. Rosell. "Contact Estimation for Compliant Motion Control." In Making Robots Smarter, 65–84. Boston, MA: Springer US, 1999. http://dx.doi.org/10.1007/978-1-4615-5239-0_5.

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Yamane, Katsu. "Human Motion Tracking by Robots." In Dance Notations and Robot Motion, 417–30. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-25739-6_20.

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Marco, D. B., A. J. Healey, and R. B. McGhee. "Autonomous Underwater Vehicles: Hybrid Control of Mission and Motion." In Underwater Robots, 95–112. Boston, MA: Springer US, 1996. http://dx.doi.org/10.1007/978-1-4613-1419-6_5.

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Wang, Yaobing. "Motion Control of Space Robots." In Space Robotics, 61–83. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-4902-1_4.

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Xidias, Elias, Nikos A. Aspragathos, and Philip Azariadis. "Motion Design for Service Robots." In Intelligent Robotics and Applications, 630–38. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-25486-4_63.

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Zanlungo, Francesco, Zeynep Yücel, Florent Ferreri, Jani Even, Luis Yoichi Morales Saiki, and Takayuki Kanda. "Social Group Motion in Robots." In Social Robotics, 474–84. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-70022-9_47.

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Kuffner, James, Koichi Nishiwaki, Satoshi Kagami, Masayuki Inaba, and Hirochika Inoue. "Motion Planning for Humanoid Robots." In Springer Tracts in Advanced Robotics, 365–74. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/11008941_39.

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Stark, G., and P. Weigele. "Robot motion execution planning." In Integration of Robots into CIM, 87–97. Dordrecht: Springer Netherlands, 1992. http://dx.doi.org/10.1007/978-94-011-2372-3_12.

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Conference papers on the topic "Robots Motion"

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Wu, Bin, and C. Steve Suh. "Decentralized Multi-Robot Motion Planning Applicable to Dynamic Environment." In ASME 2019 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/imece2019-10788.

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Abstract Multi-robots navigation in dynamic environment is a promising topic in intelligent robotics with motion planning being one of the fundamental problems. However, in practicel, multi-robots motion planning is challenging with traditional centralized approach since computational demand makes it less practical and robust for the motion planning of a large number of robots. In this paper, a decentralized distribute robots motion planning framework (DDRMPF) is discussed which addresses the specific issue. DDRMPF directly maps raw sensor data to steering command to generate optimal paths for each constituent robot. Unlike centralized method which needs a complete observation along with a center agent which processes heavy data collected from all the robots, DDRMPF allows each agent to generate an optimal local path needing only partial observation, thus rendering motion planning involving large numbers of robots more practical and robust. DDRMPF trains the policy for each robot in the complex and dynamic environment simultaneously based on the reinforcement algorithm.
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Medeiros, Vivian Suzano, and Marco Antonio Meggiolaro. "Trajectory Optimization for Hybrid Wheeled-Legged Robots in Challenging Terrain." In VIII Workshop de Teses e Dissertações em Robótica/Concurso de Teses e Dissertações em Robótica. Sociedade Brasileira de Computação - SBC, 2020. http://dx.doi.org/10.5753/wtdr_ctdr.2020.14960.

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Wheeled-legged robots are a promising solution for agile locomotion in challenging terrain, combining the speed of the wheels with the ability of the legs to cope with unstructured environments. This paper presents a trajectory optimization framework that allows wheeled-legged robots to navigate in challenging terrain, e.g., steps, slopes, gaps, while negotiating these obstacles with dynamic motions. The framework generates the robot’s base motion as well as the wheels’ positions and contact forces along the trajectory, accounting for the terrain map and the dynamics of the robot. The knowledge of the terrain map allows the optimizer to generate feasible motions for obstacle negotiation in a dynamic manner, at higher speeds. To take full advantage of the hybrid nature of wheeled-legged robots, driving and stepping motions are both considered in a single planning problem that can generate trajectories with purely driving motions or hybrid driving-stepping motions. The optimization is formulated as a Nonlinear Programming Problem (NLP) employing a phase-based parametrization to optimize over the wheels’ motion and contact forces. The reference trajectories are tracked by a hierarchical whole-body controller that computes the torque actuation commands for the robot. The motion plans are verified on the quadrupedal robot ANYmal equipped with non-steerable torque-controlled wheels in simulations and experimental tests. Agile hybrid motions are demonstrated in simulations with discontinuous obstacles, such as floating steps and gaps, at an average speed of 0.75 m/s.
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S¸ucan, Ioan A., Jonathan F. Kruse, Mark Yim, and Lydia E. Kavraki. "Reconfiguration for Modular Robots Using Kinodynamic Motion Planning." In ASME 2008 Dynamic Systems and Control Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/dscc2008-2296.

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This paper presents computational and experimental evidence that it is possible to plan and execute dynamic motions that involve chain reconfiguration for modular reconfigurable robots in the presence of obstacles. At the heart of the approach is the use of a sampling-based motion planner that is tightly integrated with a physics-based dynamic simulator. To evaluate the method, the planner is used to compute motions for a chain robot constructed from CKbot modules to perform a reconfiguration, attaching more modules and continuing a dynamic motion while avoiding obstacles. These motions are then executed on hardware and compared with the ones predicted by the planner.
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Rojas, Salvador, He Shen, Holly Griffiths, Ni Li, and Lanchun Zhang. "Motion and Gesture Compliance Control for High Performance of a Wheeled Humanoid Robot." In ASME 2017 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/imece2017-72337.

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Humanoid robots have the potential to help or even take the place of humans working in extreme or undesirable environments. Wheeled humanoids are robots that combine the mobility of mobile platforms, and the dexterity of an articulated body with two robotic arms. To perform like a human being, these robots normally are designed with a high center of mass, which makes it challenging to maintain stability while achieving high performance on complex and unpredictable terrain. Inspired from how humans react to balance themselves, a compliance control method is studied to help the wheeled humanoid robot developed at the Robotics Laboratory at Cal State LA achieve high dynamic performance while scouting over uneven terrain. Lagrange-Euler method is used to obtain the dynamic model of the humanoid robot. Then a nonlinear sliding mode compliance controller is derived and proven to ensure asymptotic stability of the humanoid robot while tracking desired reference trajectories. Finally, the performance of the proposed compliance control system is demonstrated using simulation. The results show that the robot successfully tracks a given input while maintaining balance based on the proposed tip-over avoidance algorithm.
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Wang, Shih-Liang. "On Force and Motion Control of Serial-Parallel Robots." In ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference. American Society of Mechanical Engineers, 1996. http://dx.doi.org/10.1115/96-detc/mech-1151.

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Abstract A serial-parallel robot has the high stiffness and accuracy of a parallel robot, and a large workspace and compact structure of a serial robot. In this paper, the resolved force control algorithm is derived for serial-parallel robots, including a 3-articulated-arm platform robot, a linkage robot, and two cooperating serial robots. A S matrix is derived to relate joint torque to the external load. Using the principle of virtual work, S is used in resolved rate control algorithm to relate the tool velocity to joint rate. S can be easily expanded to the control of redundant actuation, and it can be used to interpret singularity. MATLAB is used to verify these control algorithms with graphical motion animation.
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Cheng, Marvin, and Ezzat Bakhoum. "Tracking Control Design and Implementation of Multiaxial Controller for Social Robotic Devices." In ASME 2021 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/imece2021-70510.

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Abstract In the recent years, robotic devices have been widely used to interact with human beings in various scenarios, including healthcare, education, tourism, and manufacturing applications. These applications of robotic devices have also been expanded to many social activities. These social robots can take the form of a traditional mobile robot or a humanoid system that provide one-on-one interaction. Among different types of robotic devices, the bio-inspired humanoid robotics has received extensive attention in therapeutic settings by providing psychological and physiological benefits. With the social benefits, humanoid type of social robots can be an important tool to assist people in many different situations. To allow social robotic devices to better interact with human being, it is desired that these robotic systems can identify on-going human motions and respond to the motions by mimicking human movements. Thus, these systems need to acquire human motions and predict the types of these movements in real-time. Such a technique has been investigated by various research groups. Once the human motions have been identified, corresponding reactions of the robots can be determined accordingly, which usually requires the involved joints to move along specific trajectories. To synthesize such an interactive robotic system, a platform of a multi-axial robotic device, a motion identification model of human motions, a reference generator based on the identified motions, the sensors used for real-time motion measurements, and an adequate control strategy need to be integrated as a single system. The major bottleneck of such a system is that the processing and control units might not be efficient enough and can cause dramatic legacy. To validate the overall process, a simplified system was developed to investigate the feasibility of such an interactive robotic system. In this study, an experimental multi-axial robotic arm was adopted. A developed motion identification model was used to determine the on-going motions of the interacting person. Once the motion being identified, the responding motion of robotic device can be determined based on a pre-selected motion library. The trajectories of individual joints of the robotic arm can then also be generated accordingly. The robotic arm was then following the pre-selected trajectories for corresponding interactions. To compensate for the nonlinear factors caused by existing mechanical/electrical components and the cross-coupled dynamics among the mechanical components, a control strategy that integrates an adaptive robust control method and a linear controller for motion tracking was applied. With the proposed control scheme, an adequate controlled outcome can be achieved.
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"TT walking robots and mobile robots." In 2018 15th International Workshop on Advanced Motion Control (AMC). IEEE, 2018. http://dx.doi.org/10.1109/amc.2019.8371096.

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Zhou, Yu. "A Distributed Self-Deployment Algorithm Suitable for Multiple Nonholonomic Mobile Robots." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-50056.

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This paper introduces a novel distributed algorithm for deploying multi-robot systems, consisting of mobile robots with onboard sensing and wireless communication of limited ranges, to approach the desired sensory coverage while maintaining communication connection over targeted 2D environments. A virtual potential energy is defined for each mobile robot according to the difference between the actual and desired configurations in the neighborhood of the robot, which generates the actuating force to move the robot towards the desired local coverage. The Rayleigh’s dissipation function is adopted to provide the necessary damping mechanism which maintains the stability of the deployment motion for each robot. The equation of deployment motion for each mobile robot is then derived from the Hamilton’s principle using the method of the variational calculus, which defines the movement of the robot to approach the desired local configuration. The formulation of the variational calculus also provides a convenience way to incorporate the nonholonomic constraint arising in wheeled robots. Since the equation of deployment motion for each robot depends on only the robot’s own kinematic state and its detectable positional relationship with nearby objects, the proposed algorithm decentralizes the multi-robot deployment problem into the motion control of individual robots. Simulation results show the feasibility of the proposed approach in guiding the deployment of multi-robot systems.
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Lindsey, Quentin J., Michael Shomin, and Vijay Kumar. "Cooperative Quasi-Static Planar Manipulation With Multiple Robots." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28585.

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In this paper we address the modeling, control, and planning of planar manipulation tasks with multiple robots equipped with simple end-effectors. Each robot is able to influence the motion of an object either by exerting forces through the end-effector or by contact through a robot body. We develop a quasi-static model for the planar manipulation task that incorporates mathematical models of the object-ground contact, the object-robot contact and the compliant end-effector. This model allows us to predict object velocities for specified robot motions. We use this model to develop a simple motion planning algorithm for object manipulation that allows robots to select grasps, regrasp when necessary and manipulate an object along desired trajectories. Our experiments validate the mathematical models and demonstrate the feasibility of multirobot manipulation using the quasi-static model and the motion planning algorithm.
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Aronov, Boris, Mark de Berg, A. Frank van der Stappen, Petr Švestka, and Jules Vleugels. "Motion planning for multiple robots." In the fourteenth annual symposium. New York, New York, USA: ACM Press, 1998. http://dx.doi.org/10.1145/276884.276926.

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Reports on the topic "Robots Motion"

1

Minami, T., H. Kakugawa, Ichiro Suzuki, and Masafumi Yamashita. On Motion Coordination of Robots with Volume. Fort Belvoir, VA: Defense Technical Information Center, February 1994. http://dx.doi.org/10.21236/ada299459.

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Bhutada, Aditya. Universal Event and Motion Editor for Robots' Theatre. Portland State University Library, January 2000. http://dx.doi.org/10.15760/etd.194.

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Sunardi, Mathias. Expressive Motion Synthesis for Robot Actors in Robot Theatre. Portland State University Library, January 2000. http://dx.doi.org/10.15760/etd.720.

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Barraquand, Jerome, and Jean-Claude Latombe. Robot Motion Planning: A Distributed Representation Approach. Fort Belvoir, VA: Defense Technical Information Center, May 1989. http://dx.doi.org/10.21236/ada209890.

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Kavraki, Lydia, Jean-Claude Latombe, Rajeew Motwani, and P. Raghavan. Randomized Query Processing in Robot Motion Planning. Fort Belvoir, VA: Defense Technical Information Center, December 1994. http://dx.doi.org/10.21236/ada326821.

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Blackburn, Michael R., and Hoa G. Nguyen. Vision Based Autonomous Robot Navigation: Motion Segmentation,. Fort Belvoir, VA: Defense Technical Information Center, April 1996. http://dx.doi.org/10.21236/ada308472.

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Michaloski, John L. Coordinated joint motion for an industrial robot. Gaithersburg, MD: National Bureau of Standards, 1988. http://dx.doi.org/10.6028/nbs.ir.88-3735.

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Alkhulayfi, Khalid. Vision-Based Motion for a Humanoid Robot. Portland State University Library, January 2000. http://dx.doi.org/10.15760/etd.3173.

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Jung, Boyoon, and Gaurav S. Sukhatme. Real-time Motion Tracking from a Mobile Robot. Fort Belvoir, VA: Defense Technical Information Center, January 2005. http://dx.doi.org/10.21236/ada459071.

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Latombe, J. C., A. Lazanas, and S. Shekhar. Robot Motion Planning with Uncertainty in Control and Sensing. Fort Belvoir, VA: Defense Technical Information Center, November 1989. http://dx.doi.org/10.21236/ada323613.

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