Animating complex articulated robots without a rigid hierarchy of transformations

Animating complex articulated robots without a rigid hierarchy of transformations

This work presents an approach to fill a gap in the modeling of articulated robots: the ability to drive motion in a skeleton independent of a rigid hierarchy of transformations. Usually trees of joints and segments are used to model articulated robots that represent humans and animals. This type of...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Villamil, M. B., Gomez, A. T., Canto dos Santos, Jose Vicente, Larentis, B.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Couplings
Humans
Joints
Motion segmentation
Topology
Vectors
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 2646
container_issue
container_start_page 2641
container_title
container_volume
creator Villamil, M. B.
Gomez, A. T.
Canto dos Santos, Jose Vicente
Larentis, B.
description This work presents an approach to fill a gap in the modeling of articulated robots: the ability to drive motion in a skeleton independent of a rigid hierarchy of transformations. Usually trees of joints and segments are used to model articulated robots that represent humans and animals. This type of topology can not be applied to articulated bodies where each segment can be rotated by more than one joint and it also not includes cases where the same joint performs motion in standard and reverse direction. The topology we propose in this article considers both cases and it is based on an auxiliary graph that guides the algorithm to apply the transformations to the joints origins and segments chain. Modelling complex legged robots like this can be useful in robotics due to its extreme versatility to climb or move into places of very difficult access.
doi_str_mv 10.1109/ROBIO.2011.6181703
format Conference Proceeding
fullrecord <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_6181703</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>6181703</ieee_id><sourcerecordid>6181703</sourcerecordid><originalsourceid>FETCH-LOGICAL-i90t-bfc6af79623448c4201a77043018b343cbcb4749772811715b37c77f17135fa3</originalsourceid><addsrcrecordid>eNo1kM1OwzAQhI0QElDyAnDxCyR4YyfrHEvFT6VKET_3ynHtxiiNK8cV9O0xouxlZ6TVaL4l5BZYAcCa-7f2YdkWJQMoapCAjJ-RrEEJokIsgSM_J9f_ppaXJJumT5YmXTacXZHX-eh2KrpxS7Xf7QfzTVWITh8GFc2GBt_5ONEvF3t_iFTR4LZuQ3tnggq6P1JvaQxqnKwPvzF-nG7IhVXDZLLTnpH3p8ePxUu-ap-Xi_kqdw2LeWd1rSw2dcmFkFokBIXIBGcgOy647nQnUDSpuARAqDqOGtEmySur-Izc_aU6Y8x6HxJEOK5PP-A_7hJQPg</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Animating complex articulated robots without a rigid hierarchy of transformations</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Villamil, M. B. ; Gomez, A. T. ; Canto dos Santos, Jose Vicente ; Larentis, B.</creator><creatorcontrib>Villamil, M. B. ; Gomez, A. T. ; Canto dos Santos, Jose Vicente ; Larentis, B.</creatorcontrib><description>This work presents an approach to fill a gap in the modeling of articulated robots: the ability to drive motion in a skeleton independent of a rigid hierarchy of transformations. Usually trees of joints and segments are used to model articulated robots that represent humans and animals. This type of topology can not be applied to articulated bodies where each segment can be rotated by more than one joint and it also not includes cases where the same joint performs motion in standard and reverse direction. The topology we propose in this article considers both cases and it is based on an auxiliary graph that guides the algorithm to apply the transformations to the joints origins and segments chain. Modelling complex legged robots like this can be useful in robotics due to its extreme versatility to climb or move into places of very difficult access.</description><identifier>ISBN: 1457721368</identifier><identifier>ISBN: 9781457721366</identifier><identifier>EISBN: 9781457721373</identifier><identifier>EISBN: 1457721384</identifier><identifier>EISBN: 1457721376</identifier><identifier>EISBN: 9781457721380</identifier><identifier>DOI: 10.1109/ROBIO.2011.6181703</identifier><language>eng</language><publisher>IEEE</publisher><subject>Couplings ; Humans ; Joints ; Motion segmentation ; Topology ; Vectors</subject><ispartof>2011 IEEE International Conference on Robotics and Biomimetics, 2011, p.2641-2646</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6181703$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>310,311,781,785,790,791,2059,27930,54925</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6181703$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Villamil, M. B.</creatorcontrib><creatorcontrib>Gomez, A. T.</creatorcontrib><creatorcontrib>Canto dos Santos, Jose Vicente</creatorcontrib><creatorcontrib>Larentis, B.</creatorcontrib><title>Animating complex articulated robots without a rigid hierarchy of transformations</title><title>2011 IEEE International Conference on Robotics and Biomimetics</title><addtitle>ROBIO</addtitle><description>This work presents an approach to fill a gap in the modeling of articulated robots: the ability to drive motion in a skeleton independent of a rigid hierarchy of transformations. Usually trees of joints and segments are used to model articulated robots that represent humans and animals. This type of topology can not be applied to articulated bodies where each segment can be rotated by more than one joint and it also not includes cases where the same joint performs motion in standard and reverse direction. The topology we propose in this article considers both cases and it is based on an auxiliary graph that guides the algorithm to apply the transformations to the joints origins and segments chain. Modelling complex legged robots like this can be useful in robotics due to its extreme versatility to climb or move into places of very difficult access.</description><subject>Couplings</subject><subject>Humans</subject><subject>Joints</subject><subject>Motion segmentation</subject><subject>Topology</subject><subject>Vectors</subject><isbn>1457721368</isbn><isbn>9781457721366</isbn><isbn>9781457721373</isbn><isbn>1457721384</isbn><isbn>1457721376</isbn><isbn>9781457721380</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2011</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1kM1OwzAQhI0QElDyAnDxCyR4YyfrHEvFT6VKET_3ynHtxiiNK8cV9O0xouxlZ6TVaL4l5BZYAcCa-7f2YdkWJQMoapCAjJ-RrEEJokIsgSM_J9f_ppaXJJumT5YmXTacXZHX-eh2KrpxS7Xf7QfzTVWITh8GFc2GBt_5ONEvF3t_iFTR4LZuQ3tnggq6P1JvaQxqnKwPvzF-nG7IhVXDZLLTnpH3p8ePxUu-ap-Xi_kqdw2LeWd1rSw2dcmFkFokBIXIBGcgOy647nQnUDSpuARAqDqOGtEmySur-Izc_aU6Y8x6HxJEOK5PP-A_7hJQPg</recordid><startdate>201112</startdate><enddate>201112</enddate><creator>Villamil, M. B.</creator><creator>Gomez, A. T.</creator><creator>Canto dos Santos, Jose Vicente</creator><creator>Larentis, B.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201112</creationdate><title>Animating complex articulated robots without a rigid hierarchy of transformations</title><author>Villamil, M. B. ; Gomez, A. T. ; Canto dos Santos, Jose Vicente ; Larentis, B.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-bfc6af79623448c4201a77043018b343cbcb4749772811715b37c77f17135fa3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2011</creationdate><topic>Couplings</topic><topic>Humans</topic><topic>Joints</topic><topic>Motion segmentation</topic><topic>Topology</topic><topic>Vectors</topic><toplevel>online_resources</toplevel><creatorcontrib>Villamil, M. B.</creatorcontrib><creatorcontrib>Gomez, A. T.</creatorcontrib><creatorcontrib>Canto dos Santos, Jose Vicente</creatorcontrib><creatorcontrib>Larentis, B.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Villamil, M. B.</au><au>Gomez, A. T.</au><au>Canto dos Santos, Jose Vicente</au><au>Larentis, B.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Animating complex articulated robots without a rigid hierarchy of transformations</atitle><btitle>2011 IEEE International Conference on Robotics and Biomimetics</btitle><stitle>ROBIO</stitle><date>2011-12</date><risdate>2011</risdate><spage>2641</spage><epage>2646</epage><pages>2641-2646</pages><isbn>1457721368</isbn><isbn>9781457721366</isbn><eisbn>9781457721373</eisbn><eisbn>1457721384</eisbn><eisbn>1457721376</eisbn><eisbn>9781457721380</eisbn><abstract>This work presents an approach to fill a gap in the modeling of articulated robots: the ability to drive motion in a skeleton independent of a rigid hierarchy of transformations. Usually trees of joints and segments are used to model articulated robots that represent humans and animals. This type of topology can not be applied to articulated bodies where each segment can be rotated by more than one joint and it also not includes cases where the same joint performs motion in standard and reverse direction. The topology we propose in this article considers both cases and it is based on an auxiliary graph that guides the algorithm to apply the transformations to the joints origins and segments chain. Modelling complex legged robots like this can be useful in robotics due to its extreme versatility to climb or move into places of very difficult access.</abstract><pub>IEEE</pub><doi>10.1109/ROBIO.2011.6181703</doi><tpages>6</tpages></addata></record>
fulltext fulltext_linktorsrc
identifier ISBN: 1457721368
ispartof 2011 IEEE International Conference on Robotics and Biomimetics, 2011, p.2641-2646
issn
language eng
recordid cdi_ieee_primary_6181703
source IEEE Electronic Library (IEL) Conference Proceedings
subjects Couplings
Humans
Joints
Motion segmentation
Topology
Vectors
title Animating complex articulated robots without a rigid hierarchy of transformations
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-14T08%3A01%3A13IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Animating%20complex%20articulated%20robots%20without%20a%20rigid%20hierarchy%20of%20transformations&rft.btitle=2011%20IEEE%20International%20Conference%20on%20Robotics%20and%20Biomimetics&rft.au=Villamil,%20M.%20B.&rft.date=2011-12&rft.spage=2641&rft.epage=2646&rft.pages=2641-2646&rft.isbn=1457721368&rft.isbn_list=9781457721366&rft_id=info:doi/10.1109/ROBIO.2011.6181703&rft_dat=%3Cieee_6IE%3E6181703%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=9781457721373&rft.eisbn_list=1457721384&rft.eisbn_list=1457721376&rft.eisbn_list=9781457721380&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=6181703&rfr_iscdi=true