A novel graphical simulation and animation environment for integrated sensory-motor systems

Author

Marapane, Suresh B. ; Trivedi, Mohan M. ; Lassiter, Nils

Author_Institution

Electr. & Comput. Eng. Dept., Tennessee Univ., Knoxville, TN, USA

Volume

2

fYear

1993

fDate

26-30 Jul 1993

Firstpage

1411

Abstract

Describes the status of ongoing work in developing a sensory-motor robotic system, R2H, with 10 degrees of freedoms for research in active vision. To complement the R2H system, a Graphical Simulation and Animation (GSA) environment has also been developed. The objective of building the GSA system is to create a comprehensive design tool to design and study the behavior of active systems and their interactions with the environment. The GSA system will aid the researchers to develop high performance and reliable software and hardware in a most effective manner. The GSA environment integrates sensing and motor actions and features complete kinematic simulation of the R2H system, sensors and its workspace. With the aid of the GSA environment, depth-from-focus, depth-from-vergence, and depth-from-stereo modules have been implemented and tested

Keywords

active vision; GSA system; R2H; active vision; animation environment; depth-from-focus; depth-from-stereo; depth-from-vergence; design tool; graphical simulation environment; integrated sensory-motor systems; kinematic simulation; sensory-motor robotic system; Animation; Buildings; Hardware; Kinematics; Robot sensing systems; Robot vision systems; Sensor phenomena and characterization; Sensor systems; Software performance; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on

Conference_Location

Yokohama

Print_ISBN

0-7803-0823-9

Type

conf

DOI

10.1109/IROS.1993.583801

Filename

583801