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This paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers [1] by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet...
In this paper, a new saturated synchronous controller is proposed for multiple nonholonomic wheeled mobile robots to perform a time-varying formation task. Each robot is controlled to track its desired trajectory, while synchronized its motion with the two neighboring robots. A novel dynamic model of the wheeled mobile robot is derived based on Lagrange method. The Lagrange multipliers of the robot...
In the present paper Lagrangian Coherent Structures are detected in the Gulf of Trieste, i.e., a Gulf located in the north-eastern part of the Adriatic Sea. Lagrangian Coherent Structures are usually detected through Lyapunov exponent diagnostic tools. However, such diagnostics lack of a rigorous mathematical background and try to associate well-known classical dynamical system structures of autonomous...
A taxonomy for gesture-based interaction between a human and a group (swarm) of robots is described. Methods are classified into two categories. First, free-form interaction, where the robots are unconstrained in position and motion and the user can use deictic gestures to select subsets of robots and assign target goals and trajectories. Second, shape-constrained interaction, where the robots are...
Our research group has started a collaboration that analyzes data collected from biological snakes to provide insight on how to better program snake robots. Most data collected on biological snakes views the snakes from above and thus can only detect motion in the horizontal plane. However, both our robots and biological snakes are capable of generating motions both in the horizontal and vertical...
This paper proposes a novel approach to generate trajectories that generalize given demonstrations according to optimality criteria. By formulating the problem as a quadratic program we can efficiently incorporate constraints to adapt to new desired motion requirements while achieving the main goal of matching the acceleration profile of the demonstration. This makes our method particularly suited...
This paper presents a fast collision-detection method for sampling-based motion planners based on bounding volume hierarchies in workspace-time space. By introducing time as an additional dimension to the robot's workspace, the method is able to quickly evaluate time-indexed candidate trajectories for collision with the known future motions of other agents. The approach makes no assumptions on the...
A classification of different singing voices of Greek psaltes (chanters) of the Church, based on the relative positions and shapes of the «singer's formant» (SF) is presented. It was found that there are 8 categories defined on basis of the following criteria: 1) the location of the center of the clustered vowels in the corre-logram (F3-F4), 2) the maximum of F3 and minimum of F4 or F5, 3) the clustering...
We develop the study of primitives of human motion, which we refer to as movemes. The idea is to understand human motion by decomposing it into a sequence of elementary building blocks that belong to a known alphabet of dynamical systems. How can we construct an alphabet of movemes from human data? In this paper we address this issue by introducing the notion of well-posednes. Using examples from...
Longitudinal brain image series offers the possibility to study individual brain anatomical changes over time. Mathematical models are needed to study such developmental trajectories in detail. In this paper, we present a novel approach to study the individual brain anatomy over time via a linear geodesic shape regression method. In our method, we integrate separate pairwise registrations between...
In this paper, we present a Sign Language Tutoring Demonstrator, which is capable of teaching the basics of the sign language interactively. Instead of a passive learner, by incorporating a simple sign language recognizer to the system, the learner would be able to practice the signs and have feedbacks according to the similarity of the performed gesture to the actual gesture model.
We propose a new method for 3D object representation using weighted skeletal graphs. The geometry of an object is captured by assigning weights to the skeletal graph of the object, which in turn represents its topology. The weights provide necessary information for object reconstruction. The method is rotation, translation, and scaling invariant. Applications include shape representation, compression,...
This communication proposes a method for designing a model-based onboard path planner for next generation reusable launch vehicles. Flatness approach is used to map the system dynamics into a lower dimension space. As a consequence, the number of optimization variables associated to the optimal control problem is reduced. In addition, nonconvex nonlinear trajectory constraints in the flat output space...
This paper presents the results of an experimental study on the shape and path of small bubbles rising in stagnant water. Bubbles, generated at the bottom of the chamber holding water, rise through it. A high speed camera (1000 fps, Kodak, Model 1000 HRC) together with a 90 mm Macro lens is placed at a height of 60 cm from the bottom of the chamber. It is linked with a PC. The commercial software...
Motion trajectory analysis is important for human motion recognition and human computer interaction. In this paper, we propose a flexible 3D trajectory indexing method for complex 3D motion recognition. Based on both point level and primitive-level descriptors, trajectories are represented in the sub-primitive level, the level between the point level and primitive level. Primitives are flexibly segmented...
This paper presents a sonification model to convert object tracking information into sound in real time. The goal is to generate a sound that describes the information given by a trajectory - such as position, direction, velocity and shape - to help visually impaired people to "see" the world: how can we describe to them a square like we do by drawing it in a sheet of paper? The usage can...
We introduce a novel approach to learn a humanoid interface by using observed human behaviors. We propose using the observed human movements to extract task-relevant degrees-of-freedoms (DOFs) so that we can construct the humanoid interface to generate high-dimensional humanoid movements by using low-dimensional user inputs. The extracted intrinsic DOFs are represented as a task-relevant manifold...
This paper presents a strategy for estimating the geometry of an interest object from a monocular video sequence acquired by a walking humanoid robot. The problem is solved using a space carving algorithm, which relies on both the accurate extraction of the occluding boundaries of the object as well as the precise estimation of the camera pose for each video frame. For data acquisition, a monocular...
Recent approaches have been advocated to learn a movement primitive library from demonstrations by using predefined motion features to identify and extract new movement primitives. In this paper, a new bootstrapping cycle is proposed which builds a suitable movement primitive library by (i) perceiving known primitives in complex trajectories, (ii) learn either new primitives or refines old ones, and...
One of the key challenges for learning manipulation skills is generalizing between different objects. The robot should adapt both its actions and the task constraints to the geometry of the object being manipulated. In this paper, we propose computing geometric parameters of novel objects by warping known objects to match their shape. We refer to the parameters computed in this manner as warped parameters,...
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