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An important problem in human-robot interaction is for a human to be able to tell the robot go to a particular location with instructions on how to get there or what to avoid on the way. This paper provides a solution to problems where the human wants the robot not only to optimize some objective but also to honor “soft” or “hard” topological constraints, i.e. “go quickly from A to B while avoiding...
The curvature control problem for a class of hyper-redundant robot arms with continuum elements characterized by an elastic backbone system is analyzed. The main parameters of the arm shape as curvature and curvature gradient are estimated. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and a weighted state control methods. The proposed...
Path Planning stands in basic positions in robotics, game AI and navigation. Previous solutions generally focused on decompose the environment into grid-like map, which is large in proportion to the size and complexity of the environment, and thus the efficiency of graph construction, update and path-finding suffers. We proposed a waypoint generation method to discretize the environment into a waypoint...
The shape-shifting robot AMOEBA-I is the rescue-researching robot that can adapt complex environment with different configurations. The robot with line configuration can pass through the narrow space and has the better ability of obstacles. In order to improve the environment adaptability of the robot in line configuration, the turning algorithm is proposed based on the turning-shape algorithm. The...
An interesting aspect of unmanned aerial vehicles is to determine an appropriate trajectory in order them to be moved from an initial point to a target position. In addition, it is important to guarantee a collision-free trajectory, because the workspace generally has obstacles. An algorithm to propose trajectories is presented, it uses sigmoidal functions to model obstacles with arbitrary shapes...
We present a novel planning algorithm for the problem of placing objects on a cluttered surface such as a table, counter or floor. The planner (1) selects a placement for the target object and (2) constructs a sequence of manipulation actions that create space for the object. When no continuous space is large enough for direct placement, the planner leverages means-end analysis and dynamic simulation...
This paper presents a method for detecting people from images taken with a camera mounted on a robot. The purpose of the detection is avoiding people collision while robot is moving within an unknown environment. It combines two algorithms for this purpose. First, the appearance of people is learned using a set of Haar-like features and the Adaboost algorithm. This information is embedded by building...
In this paper, we present a new method that uses random search for online planning of biped walking, given a feasible footstep plan. The Linear Inverted Pendulum dynamic model and the Zero Moment Point concept are employed to solve the walking problem. We consider walk planning as the choice of a sequence of ZMPs leading to a stable walk that satisfies all the dynamic and mechanical constraints of...
In this paper improvements to a previous work are presented. Removing the redundant artifacts in the fingerprint mask is introduced enhancing the final result. The proposed method is entirely adaptive process adjusting to each fingerprint without any further supervision of the user. Hence, the algorithm is insensitive to the characteristics of the fingerprint sensor and the various physical appearances...
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