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Full-Text Articles in Computer Engineering
Analysis Of Gaits For A Rotating Tripedal Robot, Damian M. Lyons, Kiran Pamnany
Analysis Of Gaits For A Rotating Tripedal Robot, Damian M. Lyons, Kiran Pamnany
Faculty Publications
A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism, the rotopod, designed to integrate these two useful approaches to locomotion. In this paper, we present an analysis of the variety of gaits that can be exhibited by the rotopod. We present examples of many of these gaits and discuss their potential use. A trajectory generation algorithm is presented that can be used to generate point to point trajectories using one of three different styles …
Rotational Legged Locomotion, Damian M. Lyons, Kiran Pamnany
Rotational Legged Locomotion, Damian M. Lyons, Kiran Pamnany
Faculty Publications
In this paper we presented a novel, agile robot mechanism, which we call a rotopod, which combines aspects of wheeled and legged locomotion. A general description of how a tripedal rotopod can be made to step, rotating the mechanism about one leg, and moving the center of the mechanism, is presented. The concept of a gait for this mechanism is defined, and is used to show how extremely agile the mechanism can be. Specific resistance is employed as a way to explore the relative efficiency of this mechanism versus a wheel. Finally, we describe our first prototype rotopod and report …
Rank-Based Multisensory Fusion In Multitarget Video Tracking, Damian M. Lyons, D. Frank Hsu
Rank-Based Multisensory Fusion In Multitarget Video Tracking, Damian M. Lyons, D. Frank Hsu
Faculty Publications
An attractive approach to improve tracking performance for visual surveillance is to use information from multiple visual sensory cues such as position, color, shape, etc. Previous work in fusion for tracking has tended to focus on fusion by numerically combining the scores assigned by each cue. We argue that for video scenes with many targets in a crowded situation, the splitting and merging of regions associated with targets, and the subsequent dramatic changes in cue values and reliabilities, renders this form of fusion less effective. In this paper we present experimental results showing that use of cue rank information in …
A Dynamic Pruning And Feature Selection Strategy For Real-Time Tracking, D. Frank Hsu, Damian M. Lyons
A Dynamic Pruning And Feature Selection Strategy For Real-Time Tracking, D. Frank Hsu, Damian M. Lyons
Faculty Publications
Automated video tracking is useful in a number of applications such as surveillance, multisensor networks, robotics and virtual reality. In this paper we investigate an approach to tracking based on fusing the output of a collection of video trackers, each attending to a different feature or cue on the target. We show both theoretically and experimentally that the method used to prune the growth of target hypotheses can have a great impact on the trackers performance, and indirectly, change the benefit of using linear score combination as opposed to a non-linear rank combination for fusion. We also show that the …