Real-time planning of humanoid robot's gait for force controlled manipulation

2004 ◽  
Author(s):  
K. Harada ◽  
S. Kajita ◽  
F. Kanehiro ◽  
K. Fujiwara ◽  
K. Kaneko ◽  
...  
Keyword(s):  
Real Time ◽  
Time Planning

Safe manipulation in unknown, crowded environments via sensor-based interleaving planner: interleaving software and sensitive skin hardware

Robotica ◽  
2016 ◽  
Vol 35 (5) ◽  
pp. 1176-1191
Author(s):  
Dugan Um ◽  
Dongseok Ryu
Keyword(s):  
Real Time ◽  
Configuration Space ◽  
Uncertain Environments ◽  
Sensitive Skin ◽  
Cluttered Environments ◽  
Time Planning ◽  
Near Future ◽  
Indoor Spaces ◽  
Crowded Environments ◽  
Complete Path

SUMMARYAs various robots are anticipated to coexist with humans in the near future, safe manipulation in unknown, cluttered environments becomes an important issue. Manipulation in an unknown environment, however, has been proven to be NP-Hard and the risk of unexpected human--robot collision hampers the dawning of the era of human--robot coexistence. We propose a non-contact-based sensitive skin as a means to provide safe manipulation hardware and interleaving planning between the workspace and the configuration space as software to solve manipulation problems in unknown, crowded environments. Novelty of the paper resides in demonstration of real time and yet complete path planning in an uncertain and crowded environment. To that end, we introduce the framework of the sensor-based interleaving planner (SBIP) whereby search completeness and safe manipulation are both guaranteed in cluttered environments. We study an interleaving mechanism between sensation in a workspace and execution in the corresponding configuration space for real-time planning in uncertain environments, thus the name interleaving planner implies.Applications of the proposed system include manipulators of a humanoid robot, surgical manipulators, and robotic manipulators working in hazardous and uncertain environments such as underwater, unexplored planets, and unstructured indoor spaces.

Generating real-time trajectories for a planar biped robot crossing a wide ditch with landing uncertainties

Robotica ◽  
2018 ◽  
Vol 37 (1) ◽  
pp. 109-140 ◽  
Author(s):  
V. Janardhan ◽  
R. Prasanth Kumar
Keyword(s):  
Real Time ◽  
Degrees Of Freedom ◽  
Dynamic Balance ◽  
Surface Friction ◽  
Biped Robot ◽  
Net Energy ◽  
Leg Length ◽  
Uncertain Environments ◽  
Novel Concept ◽  
Time Planning

SUMMARYDitch crossing is one of the essential capabilities required for a biped robot in disaster management and search and rescue operations. Present work focuses on crossing a wide ditch with landing uncertainties by an under-actuated planar biped robot with five degrees of freedom. We consider a ditch as wide for a robot when the ankle to ankle stretch required to cross it is at least equal to the leg length of the robot. Since locomotion in uncertain environments requires real-time planning, in this paper, we present a new approach for generating real-time joint trajectories using control constraints not explicitly dependent on time, considering impact, dynamic balance, and friction. As part of the approach, we introduce a novel concept called the point of feasibility for bringing the biped robot to complete rest at the end of ditch crossing. We present a study on the influence of initial posture on landing impact and net energy consumption. Through simulations, we found the best initial postures to efficiently cross a wide ditch of width 1.05 m, with less impact and without singularities. Finally, we demonstrate the advantage of the proposed approach to cross a wide ditch when the surface friction is not same on both sides of the ditch.

scholarly journals A phantom study to assess accuracy of needle identification in real-time planning of ultrasound-guided high-dose-rate prostate implants

Brachytherapy ◽  
2013 ◽  
Vol 12 (1) ◽  
pp. 56-64 ◽  
Author(s):  
Matthew Schmid ◽  
Juanita M. Crook ◽  
Deidre Batchelar ◽  
Cynthia Araujo ◽  
David Petrik ◽  
...  
Keyword(s):  
Dose Rate ◽  
Real Time ◽  
High Dose Rate ◽  
Phantom Study ◽  
High Dose ◽  
Ultrasound Guided ◽  
Prostate Implants ◽  
Time Planning

Real-Time Planning

2013 ◽  
pp. 733-733
Author(s):  
Ning J. Yue ◽  
Kent Lambert ◽  
Jay E. Reiff ◽  
Anthony E. Dragun ◽  
Ning J. Yue ◽  
...  
Keyword(s):  
Real Time ◽  
Time Planning

A Method for Real-Time Planning of Hypersonic Cruise Trajectory

2021 ◽  
pp. 3963-3973
Author(s):  
Lansong Wang ◽  
Hui Liu ◽  
Ding Yang ◽  
Jianhui Liu ◽  
Zheng Qi ◽  
...  
Keyword(s):  
Real Time ◽  
Time Planning

scholarly journals Scalable Real-Time Planning and Optimization Software Complex for the Purposes of Earth Remote Sensing

2018 ◽  
Vol 51 (32) ◽  
pp. 451-455 ◽  
Author(s):  
Vasiliy Sazonov ◽  
Sofia Sazonova ◽  
Ivan Samylovskiy ◽  
Arseniy Sapelkin ◽  
Stanislav Budzinskiy ◽  
...  
Keyword(s):  
Remote Sensing ◽  
Real Time ◽  
Earth Remote Sensing ◽  
Optimization Software ◽  
Software Complex ◽  
Time Planning

scholarly journals ISS Operations Cost Reductions through Automation of Real-Time Planning Tasks

2011 ◽  
Author(s):  
Timothy Hall ◽  
William Clancey ◽  
Tyson Tucker ◽  
Deborah Kadlec ◽  
Marc Spicer ◽  
...  
Keyword(s):  
Real Time ◽  
Cost Reductions ◽  
Time Planning
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