[PDF] Top 20 Behavioural templates improve robot motion planning with social force model in human environments

... collect in- formation about how people behave in crowded environ- ...interact in confined environments; (ii) how people nego- tiate shared space and (iii) how people behave with other ... Voir le document complet

... Path planning is the task of choosing a list of waypoints to follow on a map in order to optimize the performance of the robot according to some global target function, like the distance ...gation” ... Voir le document complet

... ffordance-based planning and object classification [59, ...environment with respect to relations between objects, robots and humans (Figures 5 and 6), also taking into account the di fferent perspective ... Voir le document complet

... ORK Human-aware navigation involves navigation planning of a robot around ...certain social norms while navigating in an environment and expect the same from others, who are navigating ... Voir le document complet

... traces in time periods that overlap from one iteration to the ...accurate with respect to the current reality, data from the previous iterations may be employed, suitably weighted, to build a probabilistic ... Voir le document complet

... that planning a motion — the motion planning problem — is therefore one of the core problems in ...of motion planning has become the principled way of formalizing and ... Voir le document complet

... first in identifying errors of the studied system ...characteristics. In UML, interactions are repre- sented with two diagrams: the sequence diagram (pre- viously introduced) and the collaboration ... Voir le document complet

... young, with the squatting posture ...joint with an orthosis for ...place in the sagittal plane our strategy is to evaluate the torques with a simplified sagittal model as ...recorded ... Voir le document complet

... consists in two parts. The first one deal with a planner called HATP (for Human Aware Task Planner) which has been specially designed for the synthesis of plans for a robot in presence ... Voir le document complet

... the robot is in a four- legged posture the steps are even smaller because for the same angle change as in an upright posture, the contacting spot moves ...the robot moves forward. The second ... Voir le document complet

... production model introduced here is able to learn to produce grammatical constructions when given the meaning, coded in the same way that the comprehension model output is ...comprehension ... Voir le document complet

... results in table ...method. In the first line we try to solve the problem with a standard ...when in contact mode. The problem is solved in 25 ... Voir le document complet

... Interactive Motion Planning with Contact Nassime Blin 1 , Michel Ta¨ıx 2 , Philippe Fillatreau 3 and Jean-Yves Fourquet 3 Abstract— This work deals with interactive motion ... Voir le document complet

... Abstract. Human walking has been intensely studied, but it is difficult to reproduce on humanoid robots that maintain awkward ...rolling motion of the foot which is often impossible to execute with ... Voir le document complet

... done in bounded time, reduces the complexity of the plan- ning ...the robot leave the building as soon as it becomes contaminated, by following the same path ...at planning time by adding a ... Voir le document complet

... real human motion so it can be rendered with a virtual agent that represents this human ...defined in the literature (namely spatial extent and temporal extent) from captured ... Voir le document complet

... L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignemen[r] ... Voir le document complet

... navigating in a cluttered environment, while maintaining the so called generalized ...challenge in the management of a group of robots is to ensure the coordination between them, taking into account limi- ... Voir le document complet

... probabilistic motion planner to estimate if they lie in a small volume around a submanifold of ...time in trying to expend the roadmap in the directions orthogonal to the ...dealing ... Voir le document complet

... humanoid robot to walk as a human, that is, following human-like tra- ...of human locomotion trajectories? In a first stage, we showed that locomotor trajecto- ries are highly ... Voir le document complet