Page 455 - Sensing, Intelligence, Motion : How Robots and Humans Move in an Unstructured World

430 INDEX

hit point, 79, 106, 146, 186, 283 motion planning with complete
human motion planning, 329 information, 49
humans, test factors, 349 motion planning with incomplete
information, 49
I
N
in-position condition, 93
input information, 15 near-canonical solution, 159
intermediate target, 106 nonparametric statistics, 358
inverse kinematics solution, 30 null hypothesis, 363

J O
Jogger’s Problem, 140 obstacle, 15
joint coordinates, 19 obstacle monotonicity, 285
joint value, 187 obstacle of Type I, 198, 286
joint, arm joints, 18 obstacle of Type II, 198, 286
Jordan Curve Theorem, 77, 195 obstacle of Type III, 286
obstacle’s shadow, 190, 280
obstacles
K
stalactites in C-space, 290
K¨ onigsberg Bridge Problem, 59 stalagmites in C-space, 290
kinematics, 29 one-way analysis of variance, 363
Klein bottle, 77 order statistics, 358
osculating plane, 146, 161
out-position condition, 93
L
leave point, 79, 107, 146, 186, 283 P
LED (light-emitting diode), 393
limit areas of PR arm, 234 passing around an obstacle, 192
link, arm links, 18 path coordinate frame, 146
local cycle, 207 Piano Movers paradigm, 49
local direction, 79, 107, 186, 282 planar arms, 180
lower bound, Class 1 algorithms, 103 point mass, 160
lower bound, Class 2 algorithms, 103 PP-arm Algorithm, 228
PR-arm Algorithm, 245
primary path frame, 160
M
Principal Components Analysis
M-line (Main line), 61, 90, 106 (PCA), 354, 355
M-plane, 281 prismatic joint, 18
MA, moving automaton, 78 prismatic-prismatic (PP) arm, 182
Main line (M-line), 188, 280 prismatic–revolute (PR) arm, 182
main semiplane, 107 Procedure Compute T i -21, 110
major linkage, 19, 180, 273 Procedure Compute T i -22, 121
Mann–Whitney U-test, 358 provable algorithms, 50
MANOVA, 372
Maximum Turn Strategy, 144 Q
maze searching, 60
maze-to-graph transition, 66 quasi-Bug2 path, 121
minimal projection, 295
Minimum Time Strategy, 144 R
minor linkage, 19, 180, 273
Moebius strip, 77 radius of vision, 106
monotonicity property, 320 rank, statistics indexing, 358