Adaptive Locomotion for Crossing a Moving Obstacle
نویسندگان
چکیده
منابع مشابه
Adaptive locomotion for crossing a moving obstacle.
Crossing moving obstacles requires different space-time adjustments compared with stationary obstacles. Our aim was to investigate gait spatial and temporal parameters in the approach and crossing phases of a moving obstacle. We hypothesized that obstacle speed affects gait parameters, which allow us to distinguish locomotor strategies. Ten young adults walked and stepped over an obstacle that ...
متن کاملPredicted Polar Mapping for Moving Obstacle Detection
This paper presents the predicted polar mapping that is to improve the efficiency of an unexpected moving obstacle detecting system in a single vision-based robot. The polar mapping is used to simplify the segmentation of moving objects from the background and is performed with the focus of expansion (FOE) as the center. When the movement of the robot per a step becomes a bit large, then static...
متن کاملMoving obstacle path detection for mobile robot
This paper presents a system that detects a path of moving obstacle that appear in the path of a navigating robot. The objective of the system is to avoid collision between mobile robot and moving obstacles. The system uses polar mapping to simplify the segmentation of the moving object from the background. In the transformed space qualitative extimation of moving obstacles is obtained by detec...
متن کاملMoving obstacle detection from a navigating robot
This paper presents a system that detects unexpected moving obstacles that appear in the path of a navigating robot, and estimates the relative motion of the object with respect to the robot. The system is designed for a robot navigating in a structured environment with a single wide-angle camera. The objective of the system is to detect moving obstacles in order to gradually stop the robot to ...
متن کاملOptimal Trajectory Generation for Energy Consumption Minimization and Moving Obstacle Avoidance of SURENA III Robot’s Arm
In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Motor Control
سال: 2011
ISSN: 1087-1640,1543-2696
DOI: 10.1123/mcj.15.3.419