Automatic fine motor control behaviours for autonomous mobile agents operating on uneven terrains

Miro, JV; Dissanayake, G

Automatic fine motor control behaviours for autonomous mobile agents operating on uneven terrains

Miro, JV

Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: ACM International Conference Proceeding Series, 2010, pp. 33 - 40
Issue Date:: 2010-12-01

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Field	Value	Language
dc.contributor.author	Miro, JV https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2010-12-01	en_US
dc.identifier.citation	ACM International Conference Proceeding Series, 2010, pp. 33 - 40	en_US
dc.identifier.isbn	9781450302500	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. Copyright 2010 ACM.	en_US
dc.relation.ispartof	ACM International Conference Proceeding Series	en_US
dc.relation.isbasedon	10.1145/1967112.1967117	en_US
dc.title	Automatic fine motor control behaviours for autonomous mobile agents operating on uneven terrains	en_US
dc.type	Conference Proceeding
utslib.for	1702 Cognitive Sciences	en_US
dc.location.activity	Toronto, Canada	en_US
dc.location.activity	Sydney, Australia
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

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. Copyright 2010 ACM.

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http://hdl.handle.net/10453/16710