Automatic Fine Motor Control Behaviours for Autonomous Mobile Agents Operating on Uneven Terrains

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dc.contributor.author Valls Miro, Jaime en_US
dc.contributor.author Dissanayake, Gamini en_US
dc.contributor.editor Wei Liu, Xiaoping Chen, Ben Johnston, Mary-Anne Williams en_US
dc.date.accessioned 2012-02-02T11:11:57Z
dc.date.available 2012-02-02T11:11:57Z
dc.date.issued 2010 en_US
dc.identifier 2010002113 en_US
dc.identifier.citation Valls Miro Jaime and Dissanayake Gamini 2010, 'Automatic Fine Motor Control Behaviours for Autonomous Mobile Agents Operating on Uneven Terrains', , ACM, New York, USA, , pp. 33-40. en_US
dc.identifier.issn 978-1-4503-0250-0 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/16710
dc.description.abstract A novel mechanism able to produce increasingly stable paths for mobile robotic agents travelling over uneven terrain is proposed in this paper. In doing so, cognitive agents can focus on higher-level goal planning, with the increased confidence the resulting tasks will be automatically accomplished via safe and reliable paths within the lower-level skills of the platform. The strategy proposes the extension of the Fast Marching level-set method of propagating interfaces in 3D lattices with a metric to reduce robot body instability. This is particularly relevant for kinematically reconfigurable platforms which significantly modify their mass distribution through posture adaptation, such as humanoids or mobile robots equipped with manipulator arms or varying traction arrangements. Simulation results of an existing reconfigurable mobile rescue robot operating on real scenarios illustrate the validity of the proposed strategy. en_US
dc.language en_US
dc.publisher ACM en_US
dc.relation.hasversion Accepted manuscript version en_US
dc.relation.isbasedon NA en_US
dc.rights © 2010 ACM . This is the author's version of the work. It is posted here by permission of ACM for your personal use. Not for redistribution. The definitive version was published in Proceeding PCAR '10 Proceedings of the 3rd International Symposium on Practical Cognitive Agents and Robots Pages 33-40 http://dx.doi.org/10.1145/1967112.1967117 en_US
dc.title Automatic Fine Motor Control Behaviours for Autonomous Mobile Agents Operating on Uneven Terrains en_US
dc.parent The 3rd International Symposium on Practical Cognitive Agents and Robots en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation New York, USA en_US
dc.identifier.startpage 33 en_US
dc.identifier.endpage 40 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.for 170200 en_US
dc.personcode 040408 en_US
dc.personcode 011224 en_US
dc.percentage 100 en_US
dc.classification.name Cognitive Sciences en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom Practical Cognitive Agents and Robots en_US
dc.date.activity 20100510 en_US
dc.location.activity Toronto, Canada en_US
dc.description.keywords NA en_US
dc.staffid en_US
dc.staffid 011224 en_US


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