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Computational Foundations Of Anthropomorphic Locomotion
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Book Synopsis Computational Foundations of Anthropomorphic Locomotion by : Justin Carpentier
Download or read book Computational Foundations of Anthropomorphic Locomotion written by Justin Carpentier and published by . This book was released on 2017 with total page 111 pages. Available in PDF, EPUB and Kindle. Book excerpt: Anthropomorphic locomotion is a complex process that involves a very large number of degrees of freedom, the human body having more than three hundred joints against thirty in humanoid robots. Taken as a whole, these degrees of freedom show a certain coherence making it possible to set the anthropomorphic system in motion and maintain its equilibrium, in order to avoid falling. This thesis highlights the computational foundations behind this orchestration. It introduces a unified mathematical framework allowing both the study of human locomotion and the generation of locomotive trajectories for humanoid robots. This framework consists of a reduction of the body-complete dynamics of the system to consider only its projection around the center of gravity, also called centroid dynamics. Although reduced, we show that this centroidal dynamics plays a central role in the understanding and formation of locomotive movements. To do this, we first establish the observability conditions of this dynamic, that is to say that we show to what extent this data can be apprehended from sensors commonly used in biomechanics and robotics. Based on these observability conditions, we propose an estimator able to reconstruct the unbiased position of the center of gravity. From this estimator and the acquisition of walking motions on various subjects, we highlight the presence of a cycloidal pattern of the center of gravity in the sagittal plane when the human is walking nominally, that is, to say without thinking. The presence of this motif suggests the existence of a motor synergy hitherto unknown, supporting the theory of a general coordination of movements during locomotion. The last contribution of this thesis is on multi-contact locomotion. Humans have remarkable agility to perform locomotive movements that require joint use of the arms and legs, such as when climbing a rock wall. How to equip humanoid robots with such capabilities? The difficulty is certainly not technological, since current robots are able to develop sufficient mechanical powers. Their performances, evaluated both in terms of quality of movement and computing time, remain very limited. In this thesis, we address the problem of generating multi-contact trajectories in the form of an optimal control problem. The interest of this formulation is to start from the reduced model of centroid dynamics while responding to equilibrium constraints. The original idea is to maximize the likelihood of this reduced dynamic with respect to body-complete dynamics. It is based on learning a measurement of occupation that reflects the kinematic and dynamic capabilities of the robot. It is effective: the resulting algorithmic is compatible with real-time applications. The approach has been successfully evaluated on the humanoid robot HRP-2, on several modes of locomotion, thus demonstrating its versatility.
Book Synopsis Geometric and Numerical Foundations of Movements by : Jean-Paul Laumond
Download or read book Geometric and Numerical Foundations of Movements written by Jean-Paul Laumond and published by Springer. This book was released on 2017-05-02 with total page 417 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book aims at gathering roboticists, control theorists, neuroscientists, and mathematicians, in order to promote a multidisciplinary research on movement analysis. It follows the workshop “ Geometric and Numerical Foundations of Movements ” held at LAAS-CNRS in Toulouse in November 2015[1]. Its objective is to lay the foundations for a mutual understanding that is essential for synergetic development in motion research. In particular, the book promotes applications to robotics --and control in general-- of new optimization techniques based on recent results from real algebraic geometry.
Book Synopsis Biomechanics of Anthropomorphic Systems by : Gentiane Venture
Download or read book Biomechanics of Anthropomorphic Systems written by Gentiane Venture and published by Springer. This book was released on 2018-08-01 with total page 310 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mechanical laws of motion were applied very early for better understanding anthropomorphic action as suggested in advance by Newton «For from hence are easily deduced the forces of machines, which are compounded of wheels, pullies, levers, cords, and weights, ascending directly or obliquely, and other mechanical powers; as also the force of the tendons to move the bones of animals». In the 19th century E.J. Marey and E. Muybridge introduced chronophotography to scientifically investigate animal and human movements. They opened the field of motion analysis by being the first scientists to correlate ground reaction forces with kinetics. Despite of the apparent simplicity of a given skilled movement, the organization of the underlying neuro-musculo-skeletal system remains unknown. A reason is the redundancy of the motor system: a given action can be realized by different muscle and joint activity patterns, and the same underlying activity may give rise to several movements. After the pioneering work of N. Bernstein in the 60’s on the existence of motor synergies, numerous researchers «walking on the border» of their disciplines tend to discover laws and principles underlying the human motions and how the brain reduces the redundancy of the system. These synergies represent the fundamental building blocks composing complex movements. In robotics, researchers face the same redundancy and complexity challenges as the researchers in life sciences. This book gathers works of roboticists and researchers in biomechanics in order to promote an interdisciplinary research on anthropomorphic systems at large and on humanoid robotics in particular.
Book Synopsis Computational Mind: A Complex Dynamics Perspective by : Vladimir G. Ivancevic
Download or read book Computational Mind: A Complex Dynamics Perspective written by Vladimir G. Ivancevic and published by Springer Science & Business Media. This book was released on 2007-06-12 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a graduate–level monographic textbook in the field of Computational Intelligence. It presents a modern dynamical theory of the computational mind, combining cognitive psychology, artificial and computational intelligence, and chaos theory with quantum consciousness and computation. The book introduces to human and computational mind, comparing and contrasting main themes of cognitive psychology, artificial and computational intelligence.
Book Synopsis Dance Notations and Robot Motion by : Jean-Paul Laumond
Download or read book Dance Notations and Robot Motion written by Jean-Paul Laumond and published by Springer. This book was released on 2015-11-24 with total page 433 pages. Available in PDF, EPUB and Kindle. Book excerpt: How and why to write a movement? Who is the writer? Who is the reader? They may be choreographers working with dancers. They may be roboticists programming robots. They may be artists designing cartoons in computer animation. In all such fields the purpose is to express an intention about a dance, a specific motion or an action to perform, in terms of intelligible sequences of elementary movements, as a music score that would be devoted to motion representation. Unfortunately there is no universal language to write a motion. Motion languages live together in a Babel tower populated by biomechanists, dance notators, neuroscientists, computer scientists, choreographers, roboticists. Each community handles its own concepts and speaks its own language. The book accounts for this diversity. Its origin is a unique workshop held at LAAS-CNRS in Toulouse in 2014. Worldwide representatives of various communities met there. Their challenge was to reach a mutual understanding allowing a choreographer to access robotics concepts, or a computer scientist to understand the subtleties of dance notation. The liveliness of this multidisciplinary meeting is reflected by the book thank to the willingness of authors to share their own experiences with others.
Book Synopsis Whole-Body Affordances for Humanoid Robots: A Computational Approach by : Kaiser, Peter
Download or read book Whole-Body Affordances for Humanoid Robots: A Computational Approach written by Kaiser, Peter and published by KIT Scientific Publishing. This book was released on 2018-08-29 with total page 268 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Machine Learning: Theoretical Foundations and Practical Applications by : Manjusha Pandey
Download or read book Machine Learning: Theoretical Foundations and Practical Applications written by Manjusha Pandey and published by Springer Nature. This book was released on 2021-04-19 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: This edited book is a collection of chapters invited and presented by experts at 10th industry symposium held during 9–12 January 2020 in conjunction with 16th edition of ICDCIT. The book covers topics, like machine learning and its applications, statistical learning, neural network learning, knowledge acquisition and learning, knowledge intensive learning, machine learning and information retrieval, machine learning for web navigation and mining, learning through mobile data mining, text and multimedia mining through machine learning, distributed and parallel learning algorithms and applications, feature extraction and classification, theories and models for plausible reasoning, computational learning theory, cognitive modelling and hybrid learning algorithms.
Book Synopsis Unifying Perspectives in Computational and Robot Vision by : Danica Kragic
Download or read book Unifying Perspectives in Computational and Robot Vision written by Danica Kragic and published by Springer Science & Business Media. This book was released on 2008-06-06 with total page 215 pages. Available in PDF, EPUB and Kindle. Book excerpt: Assembled in this volume is a collection of some of the state-of-the-art methods that are using computer vision and machine learning techniques as applied in robotic applications. Currently there is a gap between research conducted in the computer vision and robotics communities. This volume discusses contrasting viewpoints of computer vision vs. robotics, and provides current and future challenges discussed from a research perspective.
Book Synopsis Ubiquitous Computing Fundamentals by : John Krumm
Download or read book Ubiquitous Computing Fundamentals written by John Krumm and published by CRC Press. This book was released on 2018-10-08 with total page 329 pages. Available in PDF, EPUB and Kindle. Book excerpt: "...a must-read text that provides a historical lens to see how ubicomp has matured into a multidisciplinary endeavor. It will be an essential reference to researchers and those who want to learn more about this evolving field." -From the Foreword, Professor Gregory D. Abowd, Georgia Institute of Technology First introduced two decades ago, the term ubiquitous computing is now part of the common vernacular. Ubicomp, as it is commonly called, has grown not just quickly but broadly so as to encompass a wealth of concepts and technology that serves any number of purposes across all of human endeavor. While such growth is positive, the newest generation of ubicomp practitioners and researchers, isolated to specific tasks, are in danger of losing their sense of history and the broader perspective that has been so essential to the field’s creativity and brilliance. Under the guidance of John Krumm, an original ubicomp pioneer, Ubiquitous Computing Fundamentals brings together eleven ubiquitous computing trailblazers who each report on his or her area of expertise. Starting with a historical introduction, the book moves on to summarize a number of self-contained topics. Taking a decidedly human perspective, the book includes discussion on how to observe people in their natural environments and evaluate the critical points where ubiquitous computing technologies can improve their lives. Among a range of topics this book examines: How to build an infrastructure that supports ubiquitous computing applications Privacy protection in systems that connect personal devices and personal information Moving from the graphical to the ubiquitous computing user interface Techniques that are revolutionizing the way we determine a person’s location and understand other sensor measurements While we needn’t become expert in every sub-discipline of ubicomp, it is necessary that we appreciate all the perspectives that make up the field and understand how our work can influence and be influenced by those perspectives. This is important, if we are to encourage future generations to be as successfully innovative as the field’s originators.
Book Synopsis Aspects of Soft Computing, Intelligent Robotics and Control by : János Fodor
Download or read book Aspects of Soft Computing, Intelligent Robotics and Control written by János Fodor and published by Springer Science & Business Media. This book was released on 2009-08-20 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: Soft computing, as a collection of techniques exploiting approximation and tolerance for imprecision and uncertainty in traditionally intractable problems, has become very effective and popular especially because of the synergy derived from its components. The integration of constituent technologies provides complementary methods that allow developing flexible computing tools and solving complex problems. A wide area of natural applications of soft computing techniques consists of the control of dynamic systems, including robots. Loosely speaking, control can be understood as driving a process to attain a desired goal. Intelligent control can be seen as an extension of this concept, to include autonomous human-like interactions of a machine with the environment. Intelligent robots can be characterized by the ability to operate in an uncertain, changing environment with the help of appropriate sensing. They have the power to autonomously plan and execute motion sequences to achieve a goal specified by a human user without detailed instructions. In this volume leading specialists address various theoretical and practical aspects in soft computing, intelligent robotics and control. The problems discussed are taken from fuzzy systems, neural networks, interactive evolutionary computation, intelligent mobile robotics, and intelligent control of linear and nonlinear dynamic systems.
Book Synopsis Biomechanical Basis of Human Movement by : Joseph Hamill
Download or read book Biomechanical Basis of Human Movement written by Joseph Hamill and published by Lippincott Williams & Wilkins. This book was released on 2020-11-30 with total page 1463 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ideal introductory text for a rigorous approach to biomechanics, Biomechanical Basis of Movement, Fifth Edition helps build a precise, comprehensive grasp of the full continuum of human movement potential. Focusing on the quantitative nature of biomechanics, this exacting but approachable text applies laws of motion and mechanics to in-depth analysis of specific movements, integrating current literature, meaningful numerical examples, relevant applications, hands-on exercises and functional anatomy, physics, calculus and physiology. Content is organized into sections that build upon each other to offer a structured introduction to biomechanics as it relates to exercise science. The extensively updated Fifth Edition emphasizes clinical relevance with integrated examples and questions and offers an expansive suite of digital resources, including new artwork, animations, and multiple eBook options to make mastery of biomechanics more accessible than ever. Don’t miss out on all of the digital resources! Purchase of this title in print format includes the VitalSource® eBook, providing access to additional digital resources. Also available for purchase in two additional VitalSource® eBook versions providing maximum flexibility to fit your course: Biomechanical Basis of Human Movement: Functional Anatomy, consisting of Section I: Foundations of Human Movement and Section II: Functional Anatomy Biomechanical Basis of Human Movement: Mechanical Analysis of Human Motion, consisting of key content from Section I: Foundations of Human Movement and the full Section III: Mechanical Analysis of Human Motion
Book Synopsis Neuromechanics and Control of Physical Behavior: from Experimental and Computational Formulations to Bio-inspired Technologies by : Massimo Sartori
Download or read book Neuromechanics and Control of Physical Behavior: from Experimental and Computational Formulations to Bio-inspired Technologies written by Massimo Sartori and published by Frontiers Media SA. This book was released on 2019-08-15 with total page 302 pages. Available in PDF, EPUB and Kindle. Book excerpt: The term "neuromechanics" defines an integrative approach that combines the neuromuscular control and the biomechanical aspects of physical behavior in humans and animals. Crucial to this approach is a detailed description and modeling of the interaction between the nervous system and the controlled biomechanical plant. Only then do we have the broader context within which to understand evolution, movement mechanics, neural control, energetics, disability and rehabilitation. In addition to enabling new basic science directions, understanding the interrelations between movement neural and mechanical function should also be leveraged for the development of personalized wearable technologies to augment or restore the motor capabilities of healthy or impaired individuals. Similarly, this understanding will empower us to revisit current approaches to the design and control of robotic and humanoid systems to produce truly versatile human-like physical behavior and adaptation in real-world environments. This Research Topic is therefore poised at an opportune moment to promote understanding of apparently disparate topics into a coherent focus.
Book Synopsis Legged Locomotion Robots and Anthropomorphic Mechanisms by : M. Vokubratovic
Download or read book Legged Locomotion Robots and Anthropomorphic Mechanisms written by M. Vokubratovic and published by . This book was released on 1975 with total page 638 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Cognitive Computing – ICCC 2021 by : Ruifeng Xu
Download or read book Cognitive Computing – ICCC 2021 written by Ruifeng Xu and published by Springer Nature. This book was released on 2022-02-09 with total page 88 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the International Conference on Cognitive Computing, ICCC 2021, held as part of SCF 2021 in December 2021. The conference was held virtually due to the COVID-19 pandemic. The 5 full and 3 short papers presented in this volume were carefully reviewed and selected from 31 submissions. The papers cover all aspects of Sensing Intelligence (SIJ as a Service (SlaaS). Cognitive Computing is a sensing-driven computing (SDC) scheme that explores and integrates intelligence from all types of senses in various scenarios and solution contexts.
Book Synopsis Proceedings of the 12th International Conference on Soft Computing for Problem Solving by : Millie Pant
Download or read book Proceedings of the 12th International Conference on Soft Computing for Problem Solving written by Millie Pant and published by Springer Nature. This book was released on with total page 942 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Cybernetics and Computing Technology by :
Download or read book Cybernetics and Computing Technology written by and published by . This book was released on 1991 with total page 470 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Entertainment Computing - ICEC 2010 by : Hyun Seung Yang
Download or read book Entertainment Computing - ICEC 2010 written by Hyun Seung Yang and published by Springer Science & Business Media. This book was released on 2010-08-11 with total page 536 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the thoroughly refereed proceedings of the 9th International Conference on Entertainment Computing, ICEC 2010, held in Seoul, Korea, in August 2010, under the auspices of IFIP. The 19 revised long papers, 27 short papers and 33 poster papers and demos presented were carefully reviewed and selected from numerous submissions for inclusion in the book. The papers cover all main domains of entertainment computing, from interactive music to games, taking a wide range of scientific domains from aesthetic to computer science.
