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![Page 1: Http://parasol.tamu.edu Motion Planning: From Intelligent CAD to Computer Animation to Protein Folding Nancy M. Amato Parasol Lab,Texas A&M University.](https://reader036.fdocuments.in/reader036/viewer/2022062320/56649d785503460f94a5a565/html5/thumbnails/1.jpg)
http://parasol.tamu.edu
Motion Planning:From Intelligent CAD to Computer
Animation to Protein Folding
Nancy M. AmatoParasol Lab,Texas A&M University
![Page 2: Http://parasol.tamu.edu Motion Planning: From Intelligent CAD to Computer Animation to Protein Folding Nancy M. Amato Parasol Lab,Texas A&M University.](https://reader036.fdocuments.in/reader036/viewer/2022062320/56649d785503460f94a5a565/html5/thumbnails/2.jpg)
Motion Planning
start
goal obstacles
(Basic) Motion Planning:
Given a movable object and a description of the environment, find a sequence of valid configurations that moves it from the start to the goal.
The Piano Movers Problem
![Page 3: Http://parasol.tamu.edu Motion Planning: From Intelligent CAD to Computer Animation to Protein Folding Nancy M. Amato Parasol Lab,Texas A&M University.](https://reader036.fdocuments.in/reader036/viewer/2022062320/56649d785503460f94a5a565/html5/thumbnails/3.jpg)
Motion Planning
start
goal obstacles
(Basic) Motion Planning:
Given a movable object and a description of the environment, find a sequence of valid configurations that moves it from the start to the goal.
The Alpha Puzzle
![Page 4: Http://parasol.tamu.edu Motion Planning: From Intelligent CAD to Computer Animation to Protein Folding Nancy M. Amato Parasol Lab,Texas A&M University.](https://reader036.fdocuments.in/reader036/viewer/2022062320/56649d785503460f94a5a565/html5/thumbnails/4.jpg)
Motion Planning
start
goal obstacles
(Basic) Motion Planning:
Given a movable object and a description of the environment, find a sequence of valid configurations that moves it from the start to the goal.
Example: Swapping boxes
Objective: swap the positions of the blue and red boxes, the boxes are the ‘robot’, enclosing walls are ‘obstacles’
![Page 5: Http://parasol.tamu.edu Motion Planning: From Intelligent CAD to Computer Animation to Protein Folding Nancy M. Amato Parasol Lab,Texas A&M University.](https://reader036.fdocuments.in/reader036/viewer/2022062320/56649d785503460f94a5a565/html5/thumbnails/5.jpg)
Hard Motion Planning Problems:Intelligent CAD Applications
Using Motion Planning to Test Design Requirements:• Accessibility for servicing/assembly tested on physical “mock ups”.• Digital testing saves time and money, is more accurate, enables more extensive testing, and is useful for training (VR or e-manuals).
Maintainability Problems: Mechanical Designs from GE
![Page 6: Http://parasol.tamu.edu Motion Planning: From Intelligent CAD to Computer Animation to Protein Folding Nancy M. Amato Parasol Lab,Texas A&M University.](https://reader036.fdocuments.in/reader036/viewer/2022062320/56649d785503460f94a5a565/html5/thumbnails/6.jpg)
Hard Motion Planning Problems: Highly Articulated (Constrained) Systems
Box Folding Periscope Folding
![Page 7: Http://parasol.tamu.edu Motion Planning: From Intelligent CAD to Computer Animation to Protein Folding Nancy M. Amato Parasol Lab,Texas A&M University.](https://reader036.fdocuments.in/reader036/viewer/2022062320/56649d785503460f94a5a565/html5/thumbnails/7.jpg)
Soccer Ball: 31 dofPolyhedron: 25 dof
Hard Motion Planning Problems: Highly Articulated (Constrained) Systems
Digital Actors• Closed
Chain
Paper Folding
![Page 8: Http://parasol.tamu.edu Motion Planning: From Intelligent CAD to Computer Animation to Protein Folding Nancy M. Amato Parasol Lab,Texas A&M University.](https://reader036.fdocuments.in/reader036/viewer/2022062320/56649d785503460f94a5a565/html5/thumbnails/8.jpg)
Hard Motion Planning Problems:Group Behaviors for multiple robots
Traversing a Narrow Passage A “shepherd” herding a flock of ducks
![Page 9: Http://parasol.tamu.edu Motion Planning: From Intelligent CAD to Computer Animation to Protein Folding Nancy M. Amato Parasol Lab,Texas A&M University.](https://reader036.fdocuments.in/reader036/viewer/2022062320/56649d785503460f94a5a565/html5/thumbnails/9.jpg)
Hard Motion Planning Problems:Group Behaviors for multiple robots
Covering
![Page 10: Http://parasol.tamu.edu Motion Planning: From Intelligent CAD to Computer Animation to Protein Folding Nancy M. Amato Parasol Lab,Texas A&M University.](https://reader036.fdocuments.in/reader036/viewer/2022062320/56649d785503460f94a5a565/html5/thumbnails/10.jpg)
Hard Motion Planning Problems:Deformable Objects
Find a path for a deformable object that can deform to avoid collision with obstacles• deformable objects have infinite dof!
![Page 11: Http://parasol.tamu.edu Motion Planning: From Intelligent CAD to Computer Animation to Protein Folding Nancy M. Amato Parasol Lab,Texas A&M University.](https://reader036.fdocuments.in/reader036/viewer/2022062320/56649d785503460f94a5a565/html5/thumbnails/11.jpg)
Hard Motion Planning Problems Computational Biology & Chemistry
• Drug Design - molecule docking
• Simulating Molecular Motions – study folding pathways & kinetics
Protein Folding
RNA Folding
![Page 12: Http://parasol.tamu.edu Motion Planning: From Intelligent CAD to Computer Animation to Protein Folding Nancy M. Amato Parasol Lab,Texas A&M University.](https://reader036.fdocuments.in/reader036/viewer/2022062320/56649d785503460f94a5a565/html5/thumbnails/12.jpg)
More Applications & Movies
http://parasol.tamu.edu/groups/amatogroup/
Credits: My students: Burchan Bayazit (Asst prof, WUSTL, Guang Song (postdoc with Jernigan at Iowa State),Jyh-Ming Lien, Shawna Thomas, Marco Morales,
Xinyu Tang, Dawen Xie, Roger Pearce, Sam Rodriguez
&Ken Dill (UCSF) and Marty Scholtz (Texas A&M)