Motion Planning,Two-Directional Point Representation, and Ordered Sets

1991 ◽  
Vol 4 (2) ◽  
pp. 151-163 ◽  
Author(s):  
Fawzi Al-Thukair ◽  
Andrzej Pelc ◽  
Ivan Rival ◽  
Jorge Urrutia
Author(s):  
ChangHyun Sung ◽  
Takahiro Kagawa ◽  
Yoji Uno

AbstractIn this paper, we propose an effective planning method for whole-body motions of humanoid robots under various conditions for achieving the task. In motion planning, various constraints such as range of motion have to be considered. Specifically, it is important to maintain balance in whole-body motion. In order to be useful in an unpredictable environment, rapid planning is an essential problem. In this research, via-point representation is used for assigning sufficient conditions to deal with various constraints in the movement. The position, posture and velocity of the robot are constrained as a state of a via-point. In our algorithm, the feasible motions are planned by modifying via-points. Furthermore, we formulate the motion planning problem as a simple iterative method with a Linear Programming (LP) problem for efficiency of the motion planning. We have applied the method to generate the kicking motion of a HOAP-3 humanoid robot. We confirmed that the robot can successfully score a goal with various courses corresponding to changing conditions of the location of an obstacle. The computation time was less than two seconds. These results indicate that the proposed algorithm can achieve efficient motion planning.


1996 ◽  
Vol 8 (6) ◽  
pp. 501-507
Author(s):  
Masanori Hariyama ◽  
◽  
Yuichi Araumi ◽  
Michitaka Kameyama

A compact rectangular solid representation of the 3-dimensional (3-D) objects is proposed for motion planning of intelligent robots. A VLSI-oriented algorithm is considered by which the discrete point representation of a 3-D object is transformed to the rectangular solid representation. A new architecture is proposed to perform matching operations between a rectangular solid and discrete points in parallel. The performance evaluation shows that the designed VLSI processor is 25,000 times faster than the RAM-based architecture.


2006 ◽  
Author(s):  
Jonathan Vaughan ◽  
Steven Jax ◽  
David A. Rosenbaum
Keyword(s):  

2018 ◽  
Vol 60 (3) ◽  
pp. 578-598
Author(s):  
Yu. L. Ershov ◽  
M. V. Schwidefsky

2018 ◽  
Author(s):  
Pavel Pokhilko ◽  
Evgeny Epifanovsky ◽  
Anna I. Krylov

Using single precision floating point representation reduces the size of data and computation time by a factor of two relative to double precision conventionally used in electronic structure programs. For large-scale calculations, such as those encountered in many-body theories, reduced memory footprint alleviates memory and input/output bottlenecks. Reduced size of data can lead to additional gains due to improved parallel performance on CPUs and various accelerators. However, using single precision can potentially reduce the accuracy of computed observables. Here we report an implementation of coupled-cluster and equation-of-motion coupled-cluster methods with single and double excitations in single precision. We consider both standard implementation and one using Cholesky decomposition or resolution-of-the-identity of electron-repulsion integrals. Numerical tests illustrate that when single precision is used in correlated calculations, the loss of accuracy is insignificant and pure single-precision implementation can be used for computing energies, analytic gradients, excited states, and molecular properties. In addition to pure single-precision calculations, our implementation allows one to follow a single-precision calculation by clean-up iterations, fully recovering double-precision results while retaining significant savings.


Author(s):  
Ioan Sucan ◽  
Sachin Chitta
Keyword(s):  


1995 ◽  
Author(s):  
Sumanta Guha ◽  
Rama D. Puvvada ◽  
Deepti Suri ◽  
Ichiro Suzuki

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