1 / 15

Humanoid

Amirkabir University of Technology Computer Engineering & Information Technology Department. Humanoid. دکتر سعید شیری قیداری. Android. My beloved…. Repliee Q2. HUMANOID: Locomotion. Direct and Inverse kineamtics

wheaton
Download Presentation

Humanoid

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Amirkabir University of TechnologyComputer Engineering & Information Technology Department Humanoid دکتر سعید شیری قیداری

  2. Android My beloved…. Repliee Q2

  3. HUMANOID: Locomotion • Direct and Inverse kineamtics • Walking in which body’s center of gravity moves altenately on right side and left side • At all times at least one foot in contact with floor and during brief phase both feet in contact with floor

  4. HUMANOID: Walking Model • Created by Boulic et al. (1990) • Mathematical parameterization coming from biomechanical data • Spatial, temporal an joint parameters of free walking • Spatial values normalized by height of thigh

  5. HUMANOID: Grasping • Approach based on 3 steps: • Heuristic grasping decision • Inverse kinematics to find final arm posture • Multi-sensor hand

  6. HUMANOID: Multi-sensor hand • Sphere multi-sensors with both touch and length sensor properties • Efficient for actor grasping problem • Group of objects attached to articulated figure • Sensor activated for any collision with other objects or sensors

  7. HUMANOID: Behavior Control • From path planning to complex emotional interactions. • Animator responsible for design of behaviors • Like theatrical director initialize animation environment while (not terminated) { update scene. realize perception of environment. select actions based on sensorial input, actual state, specific behavior. execute selected actions. }

  8. HUMANOID: Motion Capture • Flock of birds • Calibration retaining motion realism • Process of perturbation introduced by soft tissue and muscle displacement

  9. Representation of Rotation Before we go further, we should consider a few different ways of representing orientation • Each has its own advantages / disadvantages

More Related