|
Extension |
Type |
Description |
1 |
|
Example
One: Demonstration of real-time path modification using elastic
strips: The trajectory of a nine degree-of-freedom mobile manipulator
(left) is modified in real time as another mobile manipulator (bottom)
moves into its path. The resulting motion employs all nine degrees
of freedom to accomplish obstacle avoidance, as demonstrated by the
arm motion. (3.6 MB) |
2 |
|
Example
Two: This video shows the experiment from extension 1 executed
on a real robot. (3.8 MB) |
3 |
|
Example Three:
The trajectory of a 34 degree-of-freedom humanoid robot is modified
in real time, as it moves under a lowering beam. The video shows motion
modification without posture control, leading to physically infeasible
motion. (2.2 MB) |
4 |
|
Example Four:
This video shows the same experiment as extension 4 with posture control.
The resulting motion is not only more natural in its appearance, but
also physically feasible. (2.2 MB) |
5 |
|
Example Five:
Real-time path modification can be applied to character animation.
Observe how the skiing robot with 34 degrees of freedom avoids the
moving snowman and the lowering finish banner. Note how the ski poles
are moved to avoid obstacles and how a natural posture is maintained
with posture control. (2.7 MB) |
6 |
|
Example Six:
For this experiment the task consists of following the red line with
the end-effector. Obstacle avoidance is accomplished using elastic
strips and causes the end-effector to deviate significantly from the
task. (3.4 MB) |
7 |
|
Example Seven:
This experiment is the same as in extention 7, except that the elastic
strip performs obstacle avoidance in a task-consistent manner. You
can see how the end-effector continuously performes the task. The
obstacles perform the exact same motion as in the previous experiment.
(3.4 MB) |
8 |
|
Example Eight:
This segment shows the expermient of extension 8 executed on the real
robot. The end-effector task consists of following the red beam. Obstacle
avoidance is accomplished using elastic strips in a task-consisten
manner. The obstacle is perceived using a laser range finder. The
last segment of this video shows task-consistent obstacle avoidance
for a different task: a bottle of water is placed on a tray and the
task consists of keeping the tray level during obstacle avoidance.
(13.7 MB) |
9 |
|
Example Nine:
When constraints render task-consistent obstacle avoidance infeasible,
the task can be suspended and subsequently resumed, as demonstrated
in this video. The task consists again of following a straight-line
trajectory with the end-effector. The second mobile robot moves too
far into the path of the mobile manipulator for the task to be maintained.
It is suspended and resumed, once the obstacle is passed. (3.4 MB) |
10 |
|
Example Ten:
Purely reactive obstacle avoidance can result in hightly suboptimal
paths. This video segments shows a simple method of local replanning
to avoid teh suboptimalities. (4.9 MB) |
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