Organizational Unit:
Humanoid Robotics Laboratory

Permanent Link
https://hdl.handle.net/1853/70718
Research Organization Registry ID
Description
Previous Names
Parent Organization
Parent Organization
Includes Organization(s)
ArchiveSpace Name Record

Filters

2010 - 2011 7
7
7
7
7
Reset filters

Settings
End date: 2011 × search.filters.applied.f.isOrgUnitOfPublicationTitle: College of Computing ×

Publication Search Results

Now showing 1 - 7 of 7
  • Thumbnail Image
    Item
    Ach: IPC for Real-Time Robot Control
    (Georgia Institute of Technology, 2011) Dantam, Neil ; Stilman, Mike
    We present a new Inter-Process Communication (IPC) mechanism and library. Ach is uniquely suited for coordinating perception, control drivers, and algorithms in real-time systems that sample data from physical processes. Ach eliminates the Head-of-Line Blocking problem for applications that always require access to the newest message. Ach is efficient, robust, and formally verified. It has been tested and demonstrated on a variety of physical robotic systems. Finally, the source code for Ach is available under an Open Source BSD-style license.
  • Thumbnail Image
    Item
    Time-Optimal Path Following with Bounded Joint Accelerations and Velocities
    (Georgia Institute of Technology, 2011) Kunz, Tobias ; Stilman, Mike
    This paper presents a method to generate the time-optimal trajectroy that exactly follows a given differentiable joint-space path within given bounds on joint accelerations and velocities. We also present a path preprocessing method to make nondifferentiable paths differentiable by adding circular blends.
  • Thumbnail Image
    Item
    Design and Development of a Dynamically-Balancing Holonomic Robot
    (Georgia Institute of Technology, 2011) Reynolds-Haertle, Saul ; Stilman, Mike
    This paper describes the design, control, and construction of Golem Wing, the first vehicle which both balances dynamically and has entirely holonomic ground movement. A nonstandard linear arrangement of mecanum wheels gives it the load-lifting, performance, and manipulation benefits of a dynamically-balancing platform without the maneuvering difficulties exhibited by previous balancing platforms. We show that the arrangement is capable of holonomic motion, describe a controller that maintains dynamic balance during holonomic motion, and show an implementation of the system in hardware that validate our assertions.
  • Thumbnail Image
    Item
    Turning Paths Into Trajectories Using Parabolic Blends
    (Georgia Institute of Technology, 2011) Kunz, Tobias ; Stilman, Mike
    We present an approach for converting a path of multiple continuous linear segments into a trajectory that satisfies velocity and acceleration constraints and closely follows the given path without coming to a complete stop at every waypoint. Our method applies parabolic blends around waypoints to improve speed. In contrast to established methods that smooth trajectories with parabolic blends, our method does not require the timing of waypoints or durations of blend phases. This makes our approach particularly useful for robots that must follow kinematic paths that are not explicitly parametrized by time. Our method chooses timing automatically to achieve high performance while satisfying the velocity and acceleration constraints of a given robot.
  • Thumbnail Image
    Item
    Efficient Opening Detection
    (Georgia Institute of Technology, 2011) Levihn, Martin ; Stilman, Mike
    We present an efficient and powerful algorithm for detecting openings. Openings indicate the existence of a new path for the robot. The reliable detection of new openings is especially relevant to the domain of Navigation Among Movable Obstacles in known [7] as well as unknown [2] environments. Tremendous speed-ups for algorithms in these domains can be achieved by limiting the considerations of obstacle manipulations to cases where manipulations create new openings. The presented algorithm can detect openings for obstacles of arbitrary shapes being displaced in arbitrary directions in changing environments. To the knowledge of the authors, this is the first algorithm to achieve efficient opening detection for arbitrary shaped obstacles.
  • Thumbnail Image
    Item
    Equations of Motion for Dynamically Stable Mobile Manipulators
    (Georgia Institute of Technology, 2010-12-14) Dantam, Neil ; Kolhe, Pushkar ; Stilman, Mike
  • Thumbnail Image
    Item
    The Motion Grammar: Linguistic Perception, Planning, and Control
    (Georgia Institute of Technology, 2010) Dantam, Neil ; Stilman, Mike
    We present the Motion Grammar: a novel unified representation for task decomposition, perception, planning, and hybrid control that provides a computationally tractable way to control robots in uncertain environments with guarantees on completeness and correctness. The grammar represents a policy for the task which is parsed in real-time based on perceptual input. Branches of the syntax tree form the levels of a hierarchical decomposition, and the individual robot sensor readings are given by tokens. We implement this approach in the interactive game of Yamakuzushi on a physical robot resulting in a system that repeatably competes with a human opponent in sustained game-play for matches up to six minutes.