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J. Ruiz-del-Solar R. Palma-Amestoy R. Marchant I. Parra-Tsunekawa P. Zegers 《Robotics and Autonomous Systems》2009,57(8):796-807
A methodology for the analysis and design of fall sequences of robots that minimize joint/articulation injuries, and the damage of valuable body parts is proposed. These fall sequences can be activated/triggered by the robot in case of a detected unintentional fall or an intentional fall, which are common events in humanoid soccer environments. The methodology is human-based and requires the use of a realistic simulator as development tool. The obtained results show that fall sequences designed using the proposed method produce less damage than standard, uncontrolled falls. 相似文献
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Javier Testart Javier Ruiz del Solar Rodrigo Schulz Pablo Guerrero Rodrigo Palma-Amestoy 《Journal of Intelligent and Robotic Systems》2011,63(2):233-255
A real-time hybrid control architecture for biped humanoid robots is proposed. The architecture is modular and hierarchical.
The main robot’s functionalities are organized in four parallel modules: perception, actuation, world-modeling, and hybrid
control. Hybrid control is divided in three behavior-based hierarchical layers: the planning layer, the deliberative layer,
and the reactive layer, which work in parallel and have very different response speeds and planning capabilities. The architecture
allows: (1) the coordination of multiple robots and the execution of group behaviors without disturbing the robot’s reactivity
and responsivity, which is very relevant for biped humanoid robots whose gait control requires real-time processing. (2) The
straightforward management of the robot’s resources using resource multiplexers. (3) The integration of active vision mechanisms
in the reactive layer under control of behavior-dependant value functions from the deliberative layer. This adds flexibility
in the implementation of complex functionalities, such as the ones required for playing soccer in robot teams. The architecture
is validated using simulated and real Nao humanoid robots. Passive and active behaviors are tested in simulated and real robot
soccer setups. In addition, the ability to execute group behaviors in real- time is tested in international robot soccer competitions. 相似文献
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Palma-Amestoy R. Provenzi E. Bertalmio M. Caselles V. 《IEEE transactions on pattern analysis and machine intelligence》2009,31(3):458-474
Basic phenomenology of human color vision has been widely taken as an inspiration to devise explicit color correction algorithms. The behavior of these models in terms of significative image features (such as, e.g., contrast and dispersion) can be difficult to characterize. To cope with this, we propose to use a variational formulation of color contrast enhancement that is inspired by the basic phenomenology of color perception. In particular, we devise a set of basic requirements to be fulfilled by an energy to be considered as 'perceptually inspired', showing that there is an explicit class of functionals satisfying all of them. We single out three explicit functionals that we consider of basic interest, showing similarities and differences with existing models. The minima of such functionals is computed using a gradient descent approach. We also present a general methodology to reduce the computational cost of the algorithms under analysis from O(N2) to O(N logN), being N the number of pixels of the input image. 相似文献
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