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1. 发明申请

US20080306628A1 Multi-Modal Push Planner for Humanoid Robots 有权
标题翻译：用于人型机器人的多模式推送计划
公开(公告)号：US20080306628A1
公开(公告)日：2008-12-11
申请号：US12134078
申请日：2008-06-05
申请人： Victor Ng-Thow-Hing , Kris Hauser , Hector Gonzalez-Banos
发明人： Victor Ng-Thow-Hing , Kris Hauser , Hector Gonzalez-Banos
IPC分类号： B25J11/00
CPC分类号： B25J9/1664
摘要： Multi-modal planning method and system that search a path for the most constrained mode first, and then expands the searches for path in a less constrained mode. By searching the path for the most constrained mode first, less resource are wasted on searching for paths that does not result in a feasible path in the most constrained mode. Multi-modal planning is performed by precomputing feasibility and utility of transition configurations of two adjacent modes. The feasibility is used to exclude non-feasible transition configurations in the most constrained mode from being sampled. The utility is used to bias sampling of the transition configuration so that transition configurations with higher utility are sampled with higher probability. Paths of configurations with higher utility and efficiency are obtained by biasing the sampling of the transition configurations.
摘要翻译：首先搜索最受约束模式的路径的多模态规划方法和系统，然后以较少限制的模式扩展路径搜索。通过首先搜索最受约束模式的路径，在搜索不会导致最受约束模式中的可行路径的路径时，浪费较少的资源。多模式规划通过预计算可行性和两种相邻模式的转换配置的实用性来执行。可行性用于排除最受约束模式的不可行过渡配置以进行采样。该实用程序用于偏移过渡配置的采样，以便更高效率的转换配置以更高的概率进行采样。通过偏置过渡配置的采样获得具有更高效用和效率的配置路径。

2. 发明授权

US08116908B2 Multi-modal push planner for humanoid robots 有权
标题翻译：人形机器人的多模式推动计划
公开(公告)号：US08116908B2
公开(公告)日：2012-02-14
申请号：US12134078
申请日：2008-06-05
申请人： Victor Ng-Thow-Hing , Kris Hauser , Hector Gonzalez-Banos
发明人： Victor Ng-Thow-Hing , Kris Hauser , Hector Gonzalez-Banos
IPC分类号： G06F19/00
CPC分类号： B25J9/1664
摘要： Multi-modal planning method and system that search a path for the most constrained mode first, and then expands the searches for path in a less constrained mode. By searching the path for the most constrained mode first, less resource are wasted on searching for paths that does not result in a feasible path in the most constrained mode. Multi-modal planning is performed by precomputing feasibility and utility of transition configurations of two adjacent modes. The feasibility is used to exclude non-feasible transition configurations in the most constrained mode from being sampled. The utility is used to bias sampling of the transition configuration so that transition configurations with higher utility are sampled with higher probability. Paths of configurations with higher utility and efficiency are obtained by biasing the sampling of the transition configurations.
摘要翻译：首先搜索最受约束模式的路径的多模态规划方法和系统，然后以较少限制的模式扩展路径搜索。通过首先搜索最受约束模式的路径，在搜索不会导致最受约束模式中的可行路径的路径时，浪费较少的资源。多模式规划通过预计算可行性和两种相邻模式的转换配置的实用性来执行。可行性用于排除最受约束模式的不可行过渡配置以进行采样。该实用程序用于偏移过渡配置的采样，以便更高效率的转换配置以更高的概率进行采样。通过偏置过渡配置的采样获得具有更高效用和效率的配置路径。

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