Path Planner for Objects, Robots and Mannequins by Multi-Agents Systems or Motion Captures

نویسنده

  • Damien Chablat
چکیده

In order to optimise the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products. However, in order to be able to avoid definitively physical model without loss of information, new tools must be available. Especially, a tool making it possible to check simply and quickly the maintainability of complex mechanical sets using the numerical model is necessary. Since one decade, the MCM team of IRCCyN works on the creation of tools for the generation and the analysis of trajectories of virtual mannequins. The simulation of human tasks can be carried out either by robot-like simulation or by simulation by motion capture. This paper presents some results on the both two methods. The first method is based on a multi-agent system and on a digital mock-up technology, to assess an efficient path planner for a manikin or a robot for access and visibility task taking into account ergonomic constraints or joint limits. The human operator is integrated in the process optimisation to contribute to a global perception of the environment. This operator cooperates, in real-time, with several automatic local elementary agents. In the second method, we worked with the CEA and EADS/CCR to solve the constraints related to the evolution of human virtual in its environment on the basis of data resulting from motion capture system. An approach using of the virtual guides was developed to allow to the user the realization of precise trajectory in absence of force feedback.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Mobile Robot Online Motion Planning Using Generalized Voronoi Graphs

In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...

متن کامل

Reactive Integrated Mission and Motion planning

Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission specifications makes the problem computationally intractable. This paper presents a reactive integrated mission and motion planning for mobile-robot manipul...

متن کامل

Cooperative Control of Mobile Robots in Creating a Runway Platform for Quadrotor Landing

Multi-agent systems are systems in which several agents accomplish a mission in a cooperative manner. In this paper, a novel idea for the construction of a movable runway platform based on multi-agent systems is presented. It is assumed that an aerial agent (quadrotor) decides to make an emergency landing due to reasons such as a decrease in energy level or technical failure, while there is no ...

متن کامل

Motion and Cooperative Transportation Planning for Multi-Agent Systems under Temporal Logic Formulas

This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals expressed as Linear Temporal Logic (LTL) formulas. In particular, we design control protocols that allow the transition of the agents as well as the cooperative transportation of the objects by the agents, among predefined regions of int...

متن کامل

Collision-Free Reactive Mission and Motion Planning for Multi-robot Systems

This paper describes a holistic method for automatically synthesizing controllers for a team of robots operating in an environment shared with other agents. The proposed approach builds on recent advances in Reactive Mission Planning using Linear Temporal Logic, and Local Motion Planning using convex optimization. A local planner enforces the dynamic constraints of the robot and guarantees coll...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:
  • CoRR

دوره abs/0810.2665  شماره 

صفحات  -

تاریخ انتشار 2008