Rozprawy doktorskie na temat „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.
Pełny tekst źródłaSteerable 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
Alkhulayfi, Khalid Abdullah. "Vision-Based Motion for a Humanoid Robot". PDXScholar, 2016. https://pdxscholar.library.pdx.edu/open_access_etds/3176.
Pełny tekst źródłaBiddlestone, Scott Richard. "Collaborative Motion for Mobile Platforms". The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1357227236.
Pełny tekst źródłaIagnemma, 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.
Pełny tekst źródłaNakhaei, Alireza. "Motion planning and perception : integration on humanoid robots". Thesis, Toulouse, INPT, 2009. http://www.theses.fr/2009INPT043H/document.
Pełny tekst źródłaThis 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
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.
Pełny tekst źródłaPandey, Saurabh. "Motion planning of free-floating prismatic-jointed robots". Ohio : Ohio University, 1996. http://www.ohiolink.edu/etd/view.cgi?ohiou1178049680.
Pełny tekst źródłaBhutada, Aditya. "Universal Event and Motion Editor for Robots' Theatre". PDXScholar, 2011. https://pdxscholar.library.pdx.edu/open_access_etds/194.
Pełny tekst źródłaTan, Liek Foo. "Motion planning for rigid body robots". Thesis, Monterey, California. Naval Postgraduate School, 1992. http://hdl.handle.net/10945/23971.
Pełny tekst źródłaGiven 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.
Balland, Olivier. "Collaborative motion planning of humanoid robots". Thesis, KTH, Reglerteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-148115.
Pełny tekst źródłaKaramanlis, Vasilios. "Mulltivariate motion planning of autonomous robots". Thesis, Monterey, California. Naval Postgraduate School, 1997. http://hdl.handle.net/10945/8705.
Pełny tekst źródłaHuang, Chien-Ming. "Joint attention in human-robot interaction". Thesis, Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/41196.
Pełny tekst źródłaAguilar, Jeffrey Jose. "Exploring lift-off dynamics in a jumping robot". Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/45961.
Pełny tekst źródłaWang, Can. "Formation control of multiple robot systems with motion synchronization concept /". access full-text access abstract and table of contents, 2009. http://libweb.cityu.edu.hk/cgi-bin/ezdb/thesis.pl?phd-meem-b23750510f.pdf.
Pełny tekst źródła"Submitted to Department of Manufacturing Engineering and Engineering Management in partial fulfillment of the requirements for the degree of Doctor of Philosophy." Includes bibliographical references.
Kinney, Justin P. "Jerk limited reference trajectory generation for motion control". Thesis, Georgia Institute of Technology, 1999. http://hdl.handle.net/1853/16024.
Pełny tekst źródłaHerb, Gregory M. "A real-time robot collision avoidance safety system". Thesis, This resource online, 1990. http://scholar.lib.vt.edu/theses/available/etd-06082009-170801/.
Pełny tekst źródłaCowlagi, Raghvendra V. "Hierarchical motion planning for autonomous aerial and terrestrial vehicles". Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/41066.
Pełny tekst źródłaEgerstedt, Magnus. "Motion planning and control of mobile robots". Doctoral thesis, KTH, Mathematics, 2000. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-2948.
Pełny tekst źródłaMinnema, Lindhé Magnus. "Communication-Aware Motion Planning for Mobile Robots". Doctoral thesis, KTH, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-58781.
Pełny tekst źródłaQC 20120117
Ward, James Robert Mechanical & Manufacturing Engineering Faculty of Engineering UNSW. "Motion planning of bipedal wall climbing robots". Publisher:University of New South Wales. Mechanical & Manufacturing Engineering, 2009. http://handle.unsw.edu.au/1959.4/43685.
Pełny tekst źródłaStasse, Olivier. "Vision based motion generation for humanoid robots". Habilitation à diriger des recherches, Université Paul Sabatier - Toulouse III, 2013. http://tel.archives-ouvertes.fr/tel-00843953.
Pełny tekst źródłaMohamad, Mohd Murtadha. "Foraging ant motion planning for articulated robots". Thesis, Heriot-Watt University, 2006. http://hdl.handle.net/10399/57.
Pełny tekst źródłaMoore, Philip R. "Pneumatic motion control systems for modular robots". Thesis, Loughborough University, 1986. https://dspace.lboro.ac.uk/2134/7033.
Pełny tekst źródłaMuecke, Karl James. "An Analytical Motion Filter for Humanoid Robots". Diss., Virginia Tech, 2009. http://hdl.handle.net/10919/26686.
Pełny tekst źródłaPh. D.
Hauser, Kris. "Motion planning for legged and humanoid robots /". May be available electronically:, 2008. http://proquest.umi.com/login?COPT=REJTPTU1MTUmSU5UPTAmVkVSPTI=&clientId=12498.
Pełny tekst źródłaBartholomew, Paul D. "Optimal behavior composition for robotics". Thesis, Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/51872.
Pełny tekst źródłaMa, Ou. "Dynamics of serial-type robotic manipulators". Thesis, McGill University, 1987. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=63771.
Pełny tekst źródłaCohen, Moshe. "Application of an acceleration feedback algorithm to manipulator position control". Thesis, McGill University, 1987. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=63854.
Pełny tekst źródłaHague, Tony. "Motion planning for autonomous guided vehicles". Thesis, University of Oxford, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.358592.
Pełny tekst źródłaHale, Joshua G. "Biomimetic motion synthesis for synthetic humanoids". Thesis, University of Glasgow, 2003. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.270966.
Pełny tekst źródłaHogan, John Elliott. "Minimum aisle width path planning for nonholonomic mobile robots in industrial environments". Diss., Georgia Institute of Technology, 1997. http://hdl.handle.net/1853/16716.
Pełny tekst źródła李宏釗 i Wan-chiu Li. "Localization of a mobile robot by monocular vision". Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2001. http://hub.hku.hk/bib/B31226371.
Pełny tekst źródłaWang, Song, i 王松. "Motion planning and control simulation for robot assisted femur fracture reduction". Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2010. http://hub.hku.hk/bib/B45161380.
Pełny tekst źródłaEsteves, Jaramillo Claudia Elvira. "Motion Planning : from Digital Actors to Humanoid Robots". Phd thesis, Institut National Polytechnique de Toulouse - INPT, 2007. http://tel.archives-ouvertes.fr/tel-00145201.
Pełny tekst źródłaNous proposons une approche à trois étages au problème de la planification de mouvements pour des figures anthropomorphes qui manipulent des objets encombrants tout en marchant. Dans le processus, plusieurs problèmes ainsi que des propositions pour les résoudre, sont présentés. Ceux sont principalement l'évitement tri-dimensionnel des obstacles, la manipulation des objets à deux mains, la manipulation coopérative des objets et la combinaison de comportements hétérogènes.
La contribution principale est la modélisation du problème de la génération automatique des mouvements de manipulation et de locomotion dans le contexte de mécanismes bipèdes. Les bonnes performances du planificateur sont validées avec des mécanismes différents, tant virtuels que physiques.
Knight, Heather. "Expressive Motion for Low Degree-of-Freedom Robots". Research Showcase @ CMU, 2016. http://repository.cmu.edu/dissertations/753.
Pełny tekst źródłaBoeuf, Alexandre. "Kinodynamic motion planning for quadrotor-like aerial robots". Phd thesis, Toulouse, INPT, 2017. http://oatao.univ-toulouse.fr/20169/1/Boeuf.pdf.
Pełny tekst źródłaEsteves, Jaramillo Claudia Elvira Laumond Jean-Paul. "Motion planning from digital actors to humanoid robots /". Toulouse : INP Toulouse, 2007. http://ethesis.inp-toulouse.fr/archive/00000454.
Pełny tekst źródłaGielniak, Michael Joseph. "Adaptation of task-aware, communicative variance for motion control in social humanoid robotic applications". Diss., Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/43591.
Pełny tekst źródłaKilicaslan, Sinan. "Unconstrained Motion And Constrained Force And Motion Control Of Robots With Flexible Links". Phd thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/3/12606011/index.pdf.
Pełny tekst źródłaLaViers, Amy. "Choreographic abstractions for style-based robotic motion". Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/49033.
Pełny tekst źródłaTechakittiroj, Kittiphan. "Visibility graphs and motion planning". Virtual Press, 1995. http://liblink.bsu.edu/uhtbin/catkey/935947.
Pełny tekst źródłaDepartment of Computer Science
Buckmaster, David J. "Compliant Motion Programming for Robust Robotic Surface Finishing". Case Western Reserve University School of Graduate Studies / OhioLINK, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=case1220637111.
Pełny tekst źródłaGuo, Lin 1962. "Controller estimation for the adaptive control of robotic manipulators". Thesis, McGill University, 1987. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=63860.
Pełny tekst źródłaGeng, Tao. "Fast biped walking with a neuronal controller and physical computation". Thesis, University of Stirling, 2007. http://hdl.handle.net/1893/141.
Pełny tekst źródłaMartin, Patrick J. "Motion description languages: from specification to execution". Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/33860.
Pełny tekst źródłaVijaykumar, R. "Motion planning for legged locomotion systems on uneven terrain /". The Ohio State University, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487335992904418.
Pełny tekst źródłaKanarat, Amnart. "Motion Planning and Robust Control for Nonholonomic Mobile Robots under Uncertainties". Diss., Virginia Tech, 2004. http://hdl.handle.net/10919/28316.
Pełny tekst źródłaPh. D.
Aboshosha, Ashraf. "Adaptive navigation and motion planning for autonomous mobile robots". [S.l. : s.n.], 2004. http://deposit.ddb.de/cgi-bin/dokserv?idn=972518819.
Pełny tekst źródłaKim, Bumsoo. "Free motion and obstacle avoidance control for mobile robots". Thesis, University of Ottawa (Canada), 1992. http://hdl.handle.net/10393/7663.
Pełny tekst źródłaCiuca, Frank. "Robust optimal motion-tracking control of flexible-joint robots". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/mq52530.pdf.
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