We present an obstacle avoiding path planning method based on a Voronoi diagram. We use a tactical visibility measure to obtain the shortest path length with the lowest local probability to be discovered based on the map topology. A Voronoi-based navigation mesh for finding the shortest smooth path with the lowest visibility along the path is used. The piecewise linear rough path in the Voronoi...

This thesis describes the design and implementation of a Walking Algorithm for the humanoid robot. The humanoid is intended to be an autonomous robot, and has a total of 6 degrees of freedom coming from the hip joint, knee joint and ankle joint for each leg. The aim of this thesis project is to develop a walking pattern to control and walk in a stable manner. Exploit methods for developing a na...

A constructive approach is adopted to build B-spline like basis for cubic spline curves with a more general continuity than beta-continuity. This method provides not only a large variety of very interesting shape controls like biased, point, and interval tensions but, as a special case, also recovers a number of spline methods like nu-spline of Nielson[9], beta-splines[1], gamma-splines of Boeh...

Complex motions like kicking a ball into the goal are becoming more important in RoboCup leagues such as the Standard Platform League. Thus, there is a need for motion sequences that can be parameterized and changed dynamically. This paper presents a motion engine that translates motions into joint angles by using trajectories. These motions are defined as a set of Bezier curves that can be cha...

We present an approach for representing digital image by using B-spline curve fittings to the segmented digital image. The image is first segmented to form isolated contours and regions. Each region’s boundary (contour) is thereafter approximated by a B-spline curve. A cubic B-spline curve is used instead of a far higher degree Bezier curve to approximate the boundary because it has a local con...

We use a combination of both symbolic and numerical techniques to construct several degree bounded G 0 and G 1 continuous, piecewise approximations of real algebraic surfaces. These approximations are based upon an adaptive triangulation (a G 0 planar approximation) of the real components of the algebraic surface, and includes both singular points and singular curves on the surface. The approxi...

A method is presented to interpolate real affine plane curves with second degree NURBS (Non Uniform Rational Bezier Splines). The curve into object is initially partitioned into an arbitrary number of arcs. Then each arc is approximated with a conic section passing thru its extremes, thru a third intermediate point and being tangent to the arc at the extremes. Each arc is then parameterized by ...

in the present paper, the deformation zone of the ecae (equal channel angular extrusion) process was investigated using the upper bound theorem. for this purpose, the shape of the streamlines in the deformation zone was assumed to be cubic bezier curves. then, the force required for the ecae process was optimized with regard to the parameters defining the shape of streamlines by the upper bound...

The creative industries have become the government's attention for contributing to economic accretion. But due lack of artistic creativity and appeal, evolution craft section is not optimal. So that it was needed a variations relief items increase attractiveness. In general, industrial objects design are still limited space geometry or Bezier curve degree two. Therefore, curves selected modifie...