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Robotic Manifold Tracking of Coherent Structures in Flows. M. Ani Hsieh, Eric Forgoston, T. William Mather, and Ira B. Schwartz. Abstract—Tracking Lagrangian ...
propose a new algorithm, the manifold particle filter, which uses dual particles ... estimators to track the pose of the object from contact positions on the hand .
robot manipulators, subject to input constraints, to achieve. • reference trajectory tracking with obstacle avoidance on. 2-D manifolds embedded in 3-D ...
propose a new algorithm, the manifold particle filter, which uses dual particles directly ... estimators that track the pose of the object from contact positions on the ...
underactuated hand using an Implicit Manifold Particle Filter. (MPF) informed by .... track the configuration of a robot using commercially avail-.
three robots to track coherent structures and manifolds on static flows, a time-dependent model of a wind-driven double-gyre flow often seen in the ocean, ...
Robotic Manifold Tracking of. Coherent Structures in Flows. M. Ani Hsieh. T. William Mather. Drexel University. 7/4/2012. 1. Eric Forgoston.
following, and trajectory tracking capability to a similarly scaled neighborhood of ... robot reaches a neighborhood of the path manifold in finite time, velocity and ...
humanoid robots  are relatively common in research labs. The availability of these ... of optimal paths on manifolds is related to the computation of geodesic distances. ..... Moreover, AtlasRRT* keeps track of the chart parametrizing each ...
defined constraints shape the geometry of a constraint manifold for the system ..... the snake robot, which we define as a trajectory tracking formulation for a ...
a complete vector field [25, 26] for robot motion on a manifold of homotopic paths. ..... involving overhead tracking for robot position and a robot with no hardware ...
Sensor-Network Based Tracking ... artificial intelligence (AI) tasks that range from robot- ... Accurately tracking mobile nodes in wireless sensor net- works using ...
of the motion field of the displacement of an object, Horn and Schunck (1981). ..... cessfully detect/track features on non-flat manifolds.
sufficiently small sliding effects. Using the slow manifold method , a new control law achieving convergent output tracking for robots not satisfying kinematic ...
extension can be used to make the mobile robot track a desired velocity or acceleration ...... the path following manifold Γ⋆ using the lift of the path α(x).
task transfer between different robot architectures is a sound concept. Furthermore ..... We model the manifold alignment function as a linear mapping f : M s → Mt ..... match data for tracking control learning (kinematics data). Then, transferred a ...
using the NASA Valkyrie humanoid robot in a laboratory environment ... experiments demonstrate pose tracking robustness to challenges such as sudden view ...... and on-manifold optimization,” University of Malaga, Tech. Rep, vol. 3, 2010.
Hamiltonian Mechanical Systems via Sliding Manifolds and Contraction Analysis. In Proc. ... SCARA robot is commanded by the proposed tracking control law.
is that Cn(Γ) is not a manifold: that is, you cannot hope that every point has a ..... For the latter two, try tracking the holes instead of the robots, and be careful.
once in the manifold: if the robot traverses a loop in one direction, for .... track intruders, and transmit all of the above information to a remote ...
where is the -dimensional configuration manifold. Let the actual trajectory of the manipulator be . The design goal of a trajectory tracking controller consists in.
The appearance manifold of an object or a scene is the continuous set of ..... by integrating the results into a tracking process based on odometry. However, we ...
The 3-DOF robotic lamp, which is designed with a spherical parallel mechanism, has a tilting motion to track a person and zoom-in and zoom-out motions to ...
imitation learning techniques to Riemannian manifolds. This generalization ... regression between two robot end-effector poses, as well as an extension of ...... Tracking Priors using Geodesic Mixture Models,” International Journal of Computer ...
manifold in the robot's state space, shown in Figure 11 as a function of the state ... to force the acrobat to track positions on its unstable equilibrium manifold, and ...
6.3 Optimization over Lie Groups and Arbitrary Manifolds . . . 92. 6.3.1 Matrix ..... problems in robotics do benefit from only keeping track of the most re- cent state ...
impedance control system using a trajectory tracking method rather than .... The second stage is concerned on the designing of a manifold to ...
the practical advantages of the manifold aware filtering on pose tracking and smoothing. 1. ..... a collaborative medical robotic environment where tracking.
Coordinated manipulation using multifingered robot hands . .... Position Control and Trajectory Tracking . . . . . . . . . 189. 5.1. Problem .... Manifolds and maps .
Keywords: Wheeled Mobile Robot, Tracking Control, Second order Sliding Modes. 1. .... of the time derivative of the manifold that is part of SMC design.
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