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Institute for Robotics and Intelligent Machines (IRIM)
Institute for Robotics and Intelligent Machines (IRIM)
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ItemDynamic Chess: Strategic Planning for Robot Motion(Georgia Institute of Technology, 2011-05) Kunz, Tobias ; Kingston, Peter ; Stilman, Mike ; Egerstedt, Magnus B.We introduce and experimentally validate a novel algorithmic model for physical human-robot interaction with hybrid dynamics. Our computational solutions are complementary to passive and compliant hardware. We focus on the case where human motion can be predicted. In these cases, the robot can select optimal motions in response to human actions and maximize safety. By representing the domain as a Markov Game, we enable the robot to not only react to the human but also to construct an infinite horizon optimal policy of actions and responses. Experimentally, we apply our model to simulated robot sword defense. Our approach enables a simulated 7-DOF robot arm to block known attacks in any sequence. We generate optimized blocks and apply game theoretic tools to choose the best action for the defender in the presence of an intelligent adversary.
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ItemSteady three dimensional gliding motion of an underwater glider(Georgia Institute of Technology, 2011) Zhang, Shaowei ; Yu, Jiancheng ; Zhang, Aiqun ; Zhang, FuminUnderwater Gliders have found broad applications in ocean sampling. In this paper, the nonlinear dynamic model of the glider developed by the Shenyang Institute of Automation, Chinese Academy of Sciences, is established. Based on this model, we solve for the parameters that characterize steady state spiraling motions of the glider. A set of nonlinear equations are simplified so that a recursive algorithm can be used to find the solutions.