Collision-avoidance for redundant robots through control of the self-motion of the manipulator

1996 ◽  
Vol 16 (2) ◽  
pp. 123-149 ◽  
Author(s):  
N. Rahmanian-Shahri ◽  
I. Troch
2002 ◽  
Vol 11 (6) ◽  
pp. 349-355
Author(s):  
Ognyan I. Kolev

Purpose: To further investigate the direction of (I) nystagmus and (II) self-motion perception induced by two stimuli: (a) caloric vestibular stimulations and (b) a sudden halt during vertical axis rotation. Subjects and methods: Twelve normal humans received caloric stimulation at 44°C, 30°C, and 20°C while in a supine position with the head inclined 30° upwards. In a second test they were rotated around the vertical axis with the head randomly placed in two positions: tilted 30° forward or tilted 60° backward, at a constant velocity of 90°/sec for 2 minutes and then suddenly stopped. After both tests they were asked to describe their sensations of self-motion. Eye movements were recorded with an infrared video-technique. Results: Caloric stimulation evoked only horizontal nystagmus in all subjects and induced a non-uniform complex perception of angular in frontal and transverse planes (the former dominated) and linear movements along the antero-posterior axis (sinking dominated) of the subject's coordinates. The self-motion was felt with the whole body or with a part of the body. Generally the perception evoked by cold (30°C) and warm (44°C) calorics was similar, although there were some differences. The stronger stimulus (20°C) evoked not only quantitative but also qualitative differences in perception. The abrupt halt of rotation induced self-motion perception and nystagmus only in the plane of rotation. The self-motion was felt with the whole body. Conclusion: There was no difference in the nystagmus evoked by caloric stimulation and a sudden halt of vertical axis rotation (in head positions to stimulate the horizontal canals); however, the two stimuli evoked different perceptions of self-motion. Calorics provoked the sensation of self-rotation in the frontal plane and linear motion, which did not correspond to the direction of nystagmus, as well as arcing and a reset phenomenon during angular and linear self-motion, caloric-induced self-motion can be felt predominantly or only with a part of the body, depending on the self-motion intensity. The findings indicate that, unlike the self-motion induced by sudden halt of vertical axis rotation, several mechanisms take part in generating caloric-induced self-motion.


Author(s):  
Simone Gori ◽  
Enrico Giora ◽  
D. Alan Stubbs

This chapter discusses the Breathing Light Illusion. The Breathing Light Illusion is a size and brightness illusion elicited by the self-motion of the observer. The stimulus consists of a circular white spot that is presented on a black background, characterized by blurred boundaries. The blurred spot, which in static view seems to glow and exhibits a self-luminance appearance, is perceived as wider, brighter, and more diffuse when it is approached but smaller, darker, and sharper when one recedes from it. A possible explanation of the phenomenon is related to the superimposition of the afterimage on the physical stimulus during dynamical viewing.


PLoS ONE ◽  
2013 ◽  
Vol 8 (1) ◽  
pp. e48293 ◽  
Author(s):  
Christophe Lopez ◽  
Caroline J. Falconer ◽  
Fred W. Mast

Robotica ◽  
1997 ◽  
Vol 15 (4) ◽  
pp. 435-447 ◽  
Author(s):  
E. Sahin Conkur ◽  
Rob Buckingham

A task based approach to the issue of redundant robots starts from the premise that there are obstacles that cannot be removed from the working area and which therefore must be avoided. This statement produces the requirement for a device with a certain degree of mobility, and stresses the need to ensure that the aim is twofold: reach the goal and avoid obstacles. But avoiding obstacles is not the same objective as keeping as far away from an obstacle as possible; the primary goal is still to reach the target. In fact humans use soft contact to reach targets that are at the periphery of their reach. This soft distributed contact has the effect of smoothing the surface of the object and hence there is an element of only being interested in obstacle detail at the appropriate scale to achieve the task. This paper describes a new approach to collision avoidance based on using a global path finding algorithm, in this case using Laplacian potential fields, in conjunction with a simple local geometrically based algorithm for avoiding obstacles and maximising the use of manoeuvring space in a manner which is not limited by digital computation resolution issues. This extra technique is in some ways analogous to the human soft contact approach. Three examples are presented to illustrate the robustness of the algorithm. In order to be able to compare results with other techniques, an environment measurement scheme is defined which gives an indication of the difficulty of the trajectory being followed.


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