Motion planning for elastic rods The motion planning problem has been broadly studied in the case of articulated rigid body systems but so far few work have considered deformable bodies. In particular, elastic rods such as electric cables, hydraulic or pneumatic hoses, appear in many industrial contexts. Due to complex models and high number of degrees of freedom, the extension of motion planning methods to such bodies is a difficult problem.
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By taking advantage of the properties of static equilibrium configurations, this thesis presents several approaches to the motion planning problem for elastic rods. Visit of Michael Gleicher Seminar topic: Many different things we do as computer scientists involve doing things that will be viewed and interpreted by people. In this talk, I will discuss how we have been applying ideas from perceptual science to two very different areas: data visualization and human/agent interaction. I will describe how we have been developing an understanding of the visual system's abilities to see aggregate properties (like average value) and applying this knowledge to design new information presentations. I will also describe methods for applying machine learning technologies to simplify data so that it is easier to comprehend. I will describe how the knowledge and techniques of perceptual science is influencing our work in character animation. Specifically, I will describe our efforts to understand how subtle aspects of movement can be controlled to create communicative effects.
I will show examples about how virtual agents move their eyes, and discuss our work to apply these same ideas to robots. I will also introduce a new effort to consider robot arm motion. Bio: Michael Gleicher is a Professor in the Department of Computer Sciences at the University of Wisconsin, Madison.
Gleicher is founder of the Department's Computer Graphics group. His research interests span the range of visual computing, including data visualization, image and video processing tools, virtual reality, and character animation techniques for films, games and robotics. Prior to joining the university, Prof.
Gleicher was a researcher at The Autodesk Vision Technology Center and in Apple Computer's Advanced Technology Group. He earned his Ph. In Computer Science from Carnegie Mellon University, and holds a B.S.E. In Electrical Engineering from Duke University. For the 2013-2014 academic year, he is a visiting researcher at INRIA Rhone-Alpes.
Gleicher is an ACM Distinguished Scientist. Semiotics of motion The work presented in this thesis is aiming at establishing the bases of a semiotics of motion, in order to facilitate the programming of complex robotics systems. Compaq presario v6000 lan drivers for windows xp. The objective is to build a symbolic model of the action, based on the analysis of the numerical functions that drive the motion (control and planning). The methodology comes from the well-known robotics concepts: motion-planning algorithms, control of redundant systems and task-function approach.
The originality of the work is to consider the task as the unifying concept both to describe the motion and to control its execution. Thomas Moulard PhD Defense This thesis title is 'Numerical Optimization for robotics and closed-loop trajectory execution'. The presented work is divided into two parts. In the first one, an unified computer representation for numerical optimization problems is proposed.
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This model allows to define problems independently from the algorithm used to solve it. This unified model is particularly interesting in robotics where exact solutions are difficult to find. The second part is dealing with complex trajectory execution on humanoid robots with sensor feedback. When a biped robots walks, contact points often slip producing a drift which is necessary to compensate. We propose here a closed-loop control scheme allowing the use of sensor feedback to cancel execution errors.
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To finish, a method for the the development of complex robotics application is detailed. This thesis contributions have been implemented on the HRP-2 humanoid robot.