Robot motion simulation with eigen space method

Author

Zhao, Qingiie ; Sun, Zengqi

Author_Institution

Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China

Volume

2

fYear

2002

fDate

2002

Firstpage

1179

Abstract

Proposes a technique of robot motion simulation with imaged-based view synthesis. An eigen space method is used to acquire appearance representations of images, which can capture all possible variations in object shape, surface reflection, illumination etc. According to the given robot joint positions, the trajectory in the joint space is first planned to generate a joint sequence, and the image sequence of the robot motion is synthesized directly from reference images, not requiring a priori a CAD model or any calibration. Virtual motion results of the robot UP6 are demonstrated.

Keywords

computer animation; eigenvalues and eigenfunctions; image sampling; image sequences; matrix algebra; robots; virtual reality; UP6 robot; appearance representations; eigen-space method; image sequence; imaged-based view synthesis; joint sequence; robot motion simulation; virtual motion; Calibration; Computational modeling; Covariance matrix; Image generation; Image sequences; Layout; Orbital robotics; Robot motion; Space technology; Symmetric matrices;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on

Print_ISBN

0-7803-7268-9

Type

conf

DOI

10.1109/WCICA.2002.1020766

Filename

1020766