Browsing by Author "Kuo, LW"

Now showing 1 - 2 of 2

Potential-based path planning for robot manipulators
(2005-06-01)
Lin, CC
;
Kuo, LW
;
Chuang, JH
;
資訊工程學系
;
Department of Computer Science
In this paper, a potential-based path-planning algorithm for a high DOF robot manipulator is proposed. Unlike some c-space-based approaches, which often require expensive preprocessing for the construction of the c-space, the proposed approach uses the workspace information directly The approach computes, similar to that done in electrostatics, repulsive force and torque between objects in the workspace. A collision-free path of a manipulator will then be obtained by locally adjusting the manipulator configuration to search for minimum potential configurations using that force and torque. The proposed approach is efficient because these potential gradients are analytically tractable. Simulation results show that the proposed algorithm works well, in terms of computation time and collision avoidance, for manipulators up to 9 degrees of freedom (DOF). © 2005 Wiley Periodicals, Inc.
Shadow generation from stereo images
(2000-04-13)
Chuang, JH
;
Kuo, LW
;
Kuo, HJ
;
Liu, JS
;
資訊工程學系
A novel approach to generating object shadows using two dimensional (2D) information is presented. Existing approaches to shadow generation are generally based on 3D geometry. The proposed method is based on deriving accurate shadows of a 3D object using only stereo images of the object taken from two different viewpoints. The approach can be extended easily to solve more general problems which involve multiple objects as well as multiple planar surfaces on which object shadows are to be cast.