3D Mobility Learning and Regression of Articulated, Tracked Robotic Vehicles by Physics-based Optimization (English)

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Motion planning for robots operating on 3D rough terrain requires the synergy of various robotic capabilities, from sensing and perception to simulation, planning and prediction. In this paper, we focus on the higher level of this pipeline where by means of physics-based simulation and geometric processing we extract the information that is semantically required for an articulated, tracked robot to optimally traverse 3D terrain. We propose a model that quantifies 3D traversability by accounting for intrinsic robot characteristics and articulating capabilities together with terrain characteristics. By building upon a set of generic cost criteria for a given robot state and 3D terrain patch, we augment the traversability cost estimation by: (i) unifying pose stabilization with traversability cost estimation, (ii) introducing new parameters into the problem that have been previously overlooked and (iii) adapting geometric computations to account for the complete 3D robot body and terrain surface. We apply the proposed model on a state-of-the-art Search and Rescue robot by performing a plurality of tests under varying conditions and demonstrate its efficiency and applicability in real-time.

  • Title:
    3D Mobility Learning and Regression of Articulated, Tracked Robotic Vehicles by Physics-based Optimization
  • Author / Creator:
  • Published in:
  • Publisher:
    The Eurographics Association
  • Place of publication:
    Postfach 2926, 38629 Goslar, Germany
  • Year of publication:
    2012
  • Size:
    10 pages
  • ISBN:
  • DOI:
  • Type of media:
    Conference paper
  • Type of material:
    Electronic Resource
  • Language:
    English
  • Source:
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Table of contents conference proceedings

The tables of contents are generated automatically and are based on the data records of the individual contributions available in the index of the TIB portal. The display of the Tables of Contents may therefore be incomplete.

1
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11
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21
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Physics-based Augmented Reality for 3D Deformable Object
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39
Fast Simulation of Inextensible Hair and Fur
Müller, Matthias / Kim, Tae-Yong / Chentanez, Nuttapong | 2012
45
Real-time Hair Simulation with Efficient Hair Style Preservation
Han, Dongsoo / Harada, Takahiro | 2012
53
High-Resolution Simulation of Granular Material with SPH
Ihmsen, Markus / Wahl, Arthur / Teschner, Matthias | 2012
61
An Efficient Surface Reconstruction Pipeline for Particle-Based Fluids
Akinci, Gizem / Akinci, Nadir / Ihmsen, Markus / Teschner, Matthias | 2012
69
A Packed Memory Array to Keep Moving Particles Sorted
Durand, Marie / Raffin, Bruno / Faure, François | 2012
79
Real-Time Motion Synthesis for Multiple Goal-Directed Tasks Using Motion Layers
Mousas, Christos / Newbury, Paul | 2012
87
Synthesizing Balancing Character Motions
Kenwright, Ben | 2012
97
Generic Spine Model with Simple Physics for Life-Like Quadrupeds and Reptiles
Karim, Ahmad Abdul / Meyer, Alexandre / Gaudin, Thibaut / Buendia, Axel / Bouakaz, Saida | 2012
107
Bézier Shell Finite Element for Interactive Surgical Simulation
Golembiovský, Tomá¹ / Duriez, Christian | 2012
117
Efficient Breast Deformation Simulation
Harz, Markus T. / Georgii, Joachim / Wang, Lei / Schilling, Kathy / Peitgen, Heinz-Otto | 2012
127
OCTAVIS: An Easy-to-Use VR-System for Clinical Studies
Dyck, Eugen / Zell, Eduard / Kohsik, Agnes / Grewe, Philip / Winter, York / Piefke, Martina / Botsch, Mario | 2012
137
Policies for Goal Directed Multi-Finger Manipulation
Andrews, Sheldon / Kry, Paul G. | 2012
147
3D Mobility Learning and Regression of Articulated, Tracked Robotic Vehicles by Physics-based Optimization
Papadakis, Panagiotis / Pirri, Fiora | 2012
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