Motion Planning For Humanoid Robots

Author : Kensuke Harada,Eiichi Yoshida,Kazuhito Yokoi
Publisher : Springer Science & Business Media
Page : 320 pages
File Size : 43,7 Mb
Release : 2010-08-12
Category : Technology & Engineering
ISBN : 9781849962209

Get Book

Motion Planning for Humanoid Robots by Kensuke Harada,Eiichi Yoshida,Kazuhito Yokoi Pdf

Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in Motion Planning for Humanoid Robots, including one for skill coordination and learning, and one for manipulating and grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a highly constrained environment is addressed and a motion planner that enables a humanoid robot to push an object to a desired location on a cluttered table is described. The main areas of interest include: • whole body motion planning, • task planning, • biped gait planning, and • sensor feedback for motion planning. Torque-level control of multi-contact behavior, autonomous manipulation of moving obstacles, and movement control and planning architecture are also covered. Motion Planning for Humanoid Robots will help readers to understand the current research on humanoid motion planning. It is written for industrial engineers, advanced undergraduate and postgraduate students.

Author : Giuseppe Carbone,Fernando Gomez-Bravo
Publisher : Springer
Page : 522 pages
File Size : 45,7 Mb
Release : 2015-03-12
Category : Technology & Engineering
ISBN : 9783319147055

Get Book

Motion and Operation Planning of Robotic Systems by Giuseppe Carbone,Fernando Gomez-Bravo Pdf

This book addresses the broad multi-disciplinary topic of robotics, and presents the basic techniques for motion and operation planning in robotics systems. Gathering contributions from experts in diverse and wide ranging fields, it offers an overview of the most recent and cutting-edge practical applications of these methodologies. It covers both theoretical and practical approaches, and elucidates the transition from theory to implementation. An extensive analysis is provided, including humanoids, manipulators, aerial robots and ground mobile robots. ‘Motion and Operation Planning of Robotic Systems’ addresses the following topics: *The theoretical background of robotics. *Application of motion planning techniques to manipulators, such as serial and parallel manipulators. *Mobile robots planning, including robotic applications related to aerial robots, large scale robots and traditional wheeled robots. *Motion planning for humanoid robots. An invaluable reference text for graduate students and researchers in robotics, this book is also intended for researchers studying robotics control design, user interfaces, modelling, simulation, sensors, humanoid robotics.

Author : Jean-Claude Latombe
Publisher : Springer Science & Business Media
Page : 668 pages
File Size : 52,7 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781461540229

Get Book

Robot Motion Planning by Jean-Claude Latombe Pdf

One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.

Author : Tadeusz Uhl
Publisher : Springer
Page : 4248 pages
File Size : 42,8 Mb
Release : 2019-06-13
Category : Technology & Engineering
ISBN : 9783030201319

Get Book

Advances in Mechanism and Machine Science by Tadeusz Uhl Pdf

This book gathers the proceedings of the 15th IFToMM World Congress, which was held in Krakow, Poland, from June 30 to July 4, 2019. Having been organized every four years since 1965, the Congress represents the world’s largest scientific event on mechanism and machine science (MMS). The contributions cover an extremely diverse range of topics, including biomechanical engineering, computational kinematics, design methodologies, dynamics of machinery, multibody dynamics, gearing and transmissions, history of MMS, linkage and mechanical controls, robotics and mechatronics, micro-mechanisms, reliability of machines and mechanisms, rotor dynamics, standardization of terminology, sustainable energy systems, transportation machinery, tribology and vibration. Selected by means of a rigorous international peer-review process, they highlight numerous exciting advances and ideas that will spur novel research directions and foster new multidisciplinary collaborations.

Author : Paolo Dario,Raja Chatila
Publisher : Springer Science & Business Media
Page : 620 pages
File Size : 54,8 Mb
Release : 2005-02-17
Category : Technology & Engineering
ISBN : 3540232141

Get Book

Robotics Research by Paolo Dario,Raja Chatila Pdf

ISRR, the "International Symposium on Robotics Research", is one of robotics’ pioneering symposia, which has established some of the field's most fundamental and lasting contributions over the past two decades. This book presents the results of the eleventh edition of "Robotics Research" ISRR03, offering a broad range of topics in robotics. The contributions provide a wide coverage of the current state of robotics research: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope, and define the state of the art of robotics and its future direction.

Author : Shuuji Kajita,Hirohisa Hirukawa,Kensuke Harada,Kazuhito Yokoi
Publisher : Springer
Page : 222 pages
File Size : 43,9 Mb
Release : 2014-07-15
Category : Technology & Engineering
ISBN : 9783642545368

Get Book

Introduction to Humanoid Robotics by Shuuji Kajita,Hirohisa Hirukawa,Kensuke Harada,Kazuhito Yokoi Pdf

This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader ́s understanding.

Author : Matthew T. Mason
Publisher : MIT Press
Page : 282 pages
File Size : 40,9 Mb
Release : 2001-06-08
Category : Computers
ISBN : 0262263742

Get Book

Mechanics of Robotic Manipulation by Matthew T. Mason Pdf

The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.

Author : Katja Mombaur,Karsten Berns
Publisher : Springer Science & Business Media
Page : 289 pages
File Size : 49,9 Mb
Release : 2013-02-28
Category : Technology & Engineering
ISBN : 9783642363689

Get Book

Modeling, Simulation and Optimization of Bipedal Walking by Katja Mombaur,Karsten Berns Pdf

The model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization techniques are explained, in combination with experimental data, which can help to better understand the basic underlying mechanisms of these motions and to improve them. Example topics treated in this book are Modeling techniques for anthropomorphic bipedal walking systems Optimized walking motions for different objective functions Identification of objective functions from measurements Simulation and optimization approaches for humanoid robots Biologically inspired control algorithms for bipedal walking Generation and deformation of natural walking in computer graphics Imitation of human motions on humanoids Emotional body language during walking Simulation of biologically inspired actuators for bipedal walking machines Modeling and simulation techniques for the development of prostheses Functional electrical stimulation of walking.

Author : B. B. Biswal,Bikash Kumar Sarkar,P. Mahanta
Publisher : Springer Nature
Page : 1688 pages
File Size : 41,8 Mb
Release : 2020-01-16
Category : Technology & Engineering
ISBN : 9789811501241

Get Book

Advances in Mechanical Engineering by B. B. Biswal,Bikash Kumar Sarkar,P. Mahanta Pdf

This book comprises select proceedings of the International Conference on Recent Innovations and Developments in Mechanical Engineering (IC-RIDME 2018). The book contains peer reviewed articles covering thematic areas such as fluid mechanics, renewable energy, materials and manufacturing, thermal engineering, vibration and acoustics, experimental aerodynamics, turbo machinery, and robotics and mechatronics. Algorithms and methodologies of real-time problems are described in this book. The contents of this book will be useful for both academics and industry professionals.

Author : Nicoletta Noceti,Alessandra Sciutti,Francesco Rea
Publisher : Springer Nature
Page : 351 pages
File Size : 47,8 Mb
Release : 2020-07-09
Category : Computers
ISBN : 9783030467326

Get Book

Modelling Human Motion by Nicoletta Noceti,Alessandra Sciutti,Francesco Rea Pdf

The new frontiers of robotics research foresee future scenarios where artificial agents will leave the laboratory to progressively take part in the activities of our daily life. This will require robots to have very sophisticated perceptual and action skills in many intelligence-demanding applications, with particular reference to the ability to seamlessly interact with humans. It will be crucial for the next generation of robots to understand their human partners and at the same time to be intuitively understood by them. In this context, a deep understanding of human motion is essential for robotics applications, where the ability to detect, represent and recognize human dynamics and the capability for generating appropriate movements in response sets the scene for higher-level tasks. This book provides a comprehensive overview of this challenging research field, closing the loop between perception and action, and between human-studies and robotics. The book is organized in three main parts. The first part focuses on human motion perception, with contributions analyzing the neural substrates of human action understanding, how perception is influenced by motor control, and how it develops over time and is exploited in social contexts. The second part considers motion perception from the computational perspective, providing perspectives on cutting-edge solutions available from the Computer Vision and Machine Learning research fields, addressing higher-level perceptual tasks. Finally, the third part takes into account the implications for robotics, with chapters on how motor control is achieved in the latest generation of artificial agents and how such technologies have been exploited to favor human-robot interaction. This book considers the complete human-robot cycle, from an examination of how humans perceive motion and act in the world, to models for motion perception and control in artificial agents. In this respect, the book will provide insights into the perception and action loop in humans and machines, joining together aspects that are often addressed in independent investigations. As a consequence, this book positions itself in a field at the intersection of such different disciplines as Robotics, Neuroscience, Cognitive Science, Psychology, Computer Vision, and Machine Learning. By bridging these different research domains, the book offers a common reference point for researchers interested in human motion for different applications and from different standpoints, spanning Neuroscience, Human Motor Control, Robotics, Human-Robot Interaction, Computer Vision and Machine Learning. Chapter 'The Importance of the Affective Component of Movement in Action Understanding' of this book is available open access under a CC BY 4.0 license at link.springer.com.

Author : Kikuo Fujimura
Publisher : Springer Science & Business Media
Page : 190 pages
File Size : 47,7 Mb
Release : 2012-12-06
Category : Computers
ISBN : 9784431681656

Get Book

Motion Planning in Dynamic Environments by Kikuo Fujimura Pdf

Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.

Author : Michael Brady
Publisher : MIT Press
Page : 618 pages
File Size : 51,6 Mb
Release : 1982
Category : Computers
ISBN : 026202182X

Get Book

Robot Motion by Michael Brady Pdf

Dynamics; Feedback control; Trajectory planning; Compliance; Task planning.

Author : Vladimir J. Lumelsky
Publisher : John Wiley & Sons
Page : 456 pages
File Size : 44,9 Mb
Release : 2005-11-28
Category : Technology & Engineering
ISBN : 9780471738190

Get Book

Sensing, Intelligence, Motion by Vladimir J. Lumelsky Pdf

A leap forward in the field of robotics Until now, most of the advances in robotics have taken place instructured environments. Scientists and engineers have designedhighly sophisticated robots, but most are still only able tooperate and move in predetermined, planned environments designedspecifically for the robots and typically at very high cost. Thisnew book takes robotics to the next level by setting forth thetheory and techniques needed to achieve robotic motion inunstructured environments. The ability to move and operate in anarbitrary, unplanned environment will lead to automating a widerange of new robotic tasks, such as patient care, toxic sitecleanup, and planetary exploration. The approach that opens the door for robots to handle unstructuredtasks is known as Sensing-Intelligence-Motion (SIM), which drawsfrom research in topology, computational complexity, controltheory, and sensing hardware. Using SIM as an underlyingfoundation, the author's carefully structured presentation isdesigned to: * Formulate the challenges of sensor-based motion planning and thenbuild a theoretical foundation for sensor-based motion planningstrategies * Investigate promising algorithmic strategies for mobile robotsand robot arm manipulators, in both cases addressing motionplanning for the whole robot body * Compare robot performance to human performance in sensor-basedmotion planning to gain better insight into the challenges of SIMand help build synergistic human-robot teams for tele-operationtasks. It is both exciting and encouraging to discover that robotperformance decisively exceeds human performance in certain tasksrequiring spatial reasoning, even when compared to trainedoperators * Review sensing hardware that is necessary to realize the SIMparadigm Some 200 illustrations, graphic sketches, and photos are includedto clarify key issues, develop and validate motion planningapproaches, and demonstrate full systems in operation. As the first book fully devoted to robot motion planning inunstructured environments, Sensing, Intelligence, Motion is amust-read for engineers, scientists, and researchers involved inrobotics. It will help them migrate robots from highly specializedapplications in factories to widespread use in society whereautonomous robot motion is needed.

Author : Anonim
Publisher : Unknown
Page : 128 pages
File Size : 48,5 Mb
Release : 2019
Category : Androids
ISBN : 1538676303

Get Book

2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids). by Anonim Pdf

Author : Nguyen Van Khang,Nguyen Quang Hoang,Marco Ceccarelli
Publisher : Springer Nature
Page : 976 pages
File Size : 48,8 Mb
Release : 2021-12-14
Category : Technology & Engineering
ISBN : 9783030918927

Get Book

Advances in Asian Mechanism and Machine Science by Nguyen Van Khang,Nguyen Quang Hoang,Marco Ceccarelli Pdf

This book presents the proceedings of the 6th IFToMM Asian Mechanisms and Machine Science Conference (Asian MMS), held in Hanoi, Vietnam on December 15-18, 2021. It includes peer-reviewed papers on the latest advances in mechanism and machine science, discussing topics such as biomechanical engineering, computational kinematics, the history of mechanism and machine science, gearing and transmissions, multi-body dynamics, robotics and mechatronics, the dynamics of machinery, tribology, vibrations, rotor dynamics and vehicle dynamics. A valuable, up-to-date resource, it offers an essential overview of the subject for scientists and practitioners alike, and will inspire further investigations and research.