Wallace Ching

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Human-like robots are useful in many areas such as deep sea mining and space applications. An efficient motion planning algorithm for these type of robots will be helpful in achieving task level programming. In this paper we present a new efficient algorithm that has successfully computer collision free motions for anthropometric figures with many degrees(More)
We report a simple natural language interface to a human task simulation system that graphically displays the performance of goal-directed tasks by an agent in a workspace. The inputs to the system are simple natural language commands requiring achievement of spatial relationships among objects in the workspace. To animate the behaviors denoted by(More)
A fast algorithm is presented that can handle the motion planning problem for articulated figures with branches and many degrees of freedom. The algorithm breaks down the degrees of freedom of the figure into Cspace groups and compute the free motion for each of these groups in a sequential fashion. It traverses the tree in a depth first order to compute(More)
We report a simple natural language interface to a human task simulation system that graphically displays performance of goal-directed tasks by an agent in a workspace. The inputs to the system are simple natural language commands requiring achievement of spatial relationships among objects in the workspace. To animate the behaviors denoted by instructions,(More)
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