PPT-Motion Planning of Extreme Locomotion Maneuvers Using Multi

The Human Center Robotics Laboratory HCRL The University of Texas at Austin Luis Sentis and Mike Slovich Humanoids 2011Bled Slovenia October 28 th 2011 What Are Extreme Maneuvers EM. It operates on detailed continuous geometric representations and does not require apriori discretization of the state or action spaces I I NTRODUCTION As robots become more physically robust and capable of sophisticated sensing navigation and manipu for Adaptive Sampling Using Mixed Integer. Linear Programming. A discussion on. Key words in title…... Path Planning. Autonomous Underwater Vehicles. Adaptive Sampling. Mixed Integer Linear programming. ADAPTATIONS FOR . LOCOMOTION. Mammalogy . (Fall 2012 Althoff - reference FDVM Chapter 6). LEC . 05. . . Axial Skeleton. For terrestrial mammals: skeleton, muscles, and their associated structures can be viewed as one unit. Enabling robots to move. Many bio-inspired methods:. Walk, jump, run, slide, skate, swim, fly, roll. Exception: . Powered wheel. Human invention. What’s the benefit?. Power vs. Attainable Speed . # of actuators. HOW DO WE REMEMBER THE LIFE PROCCESSES?. H.N.T.R.S.G.E.R.M.R.. WHICH ONES HAVE WE COVERED?. NUTRITION & TRANSPORT & RESPIRATION & *EXCRETION. WHAT’S NEXT?. R .  REGULATION (RESPONSE). Navjot. . Garg. Locomotion. Locomotion is the self-propelled movement of an organism, such as walking or running of a character with legs.. A character could be a legged human or non-human 3D character in a virtual environment.. Core:. Developed a motion planner for on-road swerve . maneuvers. Developed a reinforcement learning (RL) formulation that learns human driving . patterns . in simulation . playback. Recorded human driving . . motion planning. J. . Pettré. , J.P. Laumond,. A motion capture . based. . control-space. . approach. for . walking. mannequins. Computer Animation and Virtual . Worlds. , Vol. 16, 2006.. C. . Kang Zhao. B659 . Intelligent . Robotics. Spring 2013. 1. Planning Biped Navigation Strategies in Complex Environments. Joel . Chestnutt. , James . Kuffner. , Koichi . Nishiwaki. , Satoshi . Kagami. 2. Jia. Pan and Dinesh Manocha. University . of North Carolina, Chapel Hill, USA. http://gamma.cs.unc.edu/gplanner. Presenter: . Liangjun. Zhang, Stanford University. Real-time Motion Planning. Dynamic/uncertain/deformable environments. Humanoid Motion Planning for Dual-Arm Manipulation and Re-Grasping Tasks Nikolaus Vahrenkamp , Dmitry Berenson, Tamim Asfour , James Kuffner , Rudiger Dillmann Institute for Anthropometrics, University of Karlsruhe We now have untethered VR systems, with wide-area, inside looking out tracking. Physical space is limited, and encumbered, and different from VE. Headset is heavy so wearing it extensively is tiring. In work environments, the use of dexterous mobile manipulators as co-workers poses several challenges with respect to the human-robot collaboration. On the one hand, its focus is in the autonomy (i.e Carl Schissler. 2014/11/03. Motivation. Need for plausible animations in games, movies. Application: Paleontology. Dinosaur Locomotion: Beyond the Bones. . [. Hutchinson. . &. Gatesy. 2006]. Can we determine how extinct animals moved?.