GPU based approach for fast generation of robot capability representations
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| Autores: | , |
|---|---|
| Formáid: | artículo original |
| Stádas: | Versión publicada |
| Fecha de Publicación: | 2022 |
| Cur Síos: | Capability maps are an important tool for enabling robots to understand their bodies by providing a way of representing the dexterity of their arms. They are usually treated as static data structures be- cause of how computationally intensive they are to generate. We present a method for generating capability maps taking advantage of the parallelization that modern GPUs offer such that these maps are generated approximately 50 times faster than previous implementations. This system could be used in situations were the robot has to generate this maps fast, for example when using unknown tools. |
| País: | Portal de Revistas TEC |
| Institiúid: | Instituto Tecnológico de Costa Rica |
| Repositorio: | Portal de Revistas TEC |
| Teanga: | Inglés |
| OAI Identifier: | oai:ojs.pkp.sfu.ca:article/6449 |
| Rochtain Ar Líne: | https://revistas.tec.ac.cr/index.php/tec_marcha/article/view/6449 |
| Palabra clave: | GPU computation capability maps robotic dexterity Cálculo de GPU mapas de capacidad destreza robótica |