NDLI: A study on motion adaptation against robot structure changes

Content Provider	IEEE Xplore Digital Library
Author	Funabora, Y. Doki, S. Okuma, S. Yano, Y.
Copyright Year	2009
Description	Author affiliation: Department of Electrical Engineering, Nagoya University, Nagoya City, Japan (Funabora, Y.; Doki, S.; Okuma, S.) \|\| Department of Electrical and Electronics Engineering, Aichi Institute of Technology, Toyota City, Japan (Yano, Y.)
Abstract	Robot motions are designed according to the properties such as the number of joints, the range of each joint, the length of each frame and so on. Structure changes such as joint failures or frame distortion make the tasks of prepared motions unaccomplished. Identification of structure changes on multi degree-of-freedom (DOF) robots like humanoid is so difficult that the traditional approaches based on inverse kinematics would not be applied. We propose a motion adaptation method to generate new proper motions accomplishing the tasks on changed structure without identification of the structure changes. All the motions can be expressed with the time-series data of postures. Each proper posture as an element of motions for changed structure is estimated by Kriging with joint angle data of several original postures sorted by Vector Quantization (VQ) and the corresponding postures explored on changed structure by Simulated Annealing (SA). At the case the tasks couldn't be accomplished with the generated motions in designed DOF, new motions are generated in expanded DOF adding redundancy joints. Experimental results show that the generated motion by proposed method is accomplished 96.6% similarity with the original task referenced failure motion's task to 0% on changed structure by single joint locking.
Starting Page	2149
Ending Page	2154
File Size	525458
Page Count	6
File Format	PDF
ISBN	9781424427932
ISSN	1062922X
DOI	10.1109/ICSMC.2009.5346277
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Vector quantization Cities and towns Motion estimation Simulated annealing Service robots Gears Costs Robot sensing systems Cybernetics Kriging Motion Adaptation Structure Changes Vector Quantization
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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