TY - GEN AU - Hans, Ole Rafaelsen AU - Kántor, Péter AU - Antonio, Alfaro AU - Daniel, Seixas AU - Peter, Sheynkman AU - Urbancsek, Tamás AU - Noam, Amram AU - Frank, Eliassen ED - Hans, Ole Rafaelsen TI - Demonstration of multilink features PY - 2011 SP - 1 EP - 33 PG - 33 UR - https://m2.mtmt.hu/api/publication/2672055 ID - 2672055 LA - English DB - MTMT ER - TY - JOUR AU - Juhász, Tamás AU - Urbancsek, Tamás TI - Beyond the Limits of Kinematics in Planning keyframed Biped Locomotion JF - PERIODICA POLYTECHNICA-ELECTRICAL ENGINEERING J2 - PERIOD POLYTECH ELECTR ENG VL - 2009 PY - 2010 IS - 1-2 SP - 3 EP - 9 PG - 7 SN - 0324-6000 DO - 10.3311/pp.ee.2009-1-2.01 UR - https://m2.mtmt.hu/api/publication/2650231 ID - 2650231 AB - The methods of locomotion planning for biped robots have been studied for many years. Presently, several companies have announced the commercial availability of various humanoid robot prototypes with diverse controllability. However a family of existing (small) humanoids is being controlled in a discrete time manner (using so called “keyframes”). The keyframe technique lets us specify the target angular position of the joints only in discrete time-steps, whereby the length of the individual intervals is also defined. These platforms have built-in path planning algorithms and have their own control electronics: i.e. no external feedback is given about actual joint torques. They do not support the widely spread methods, thus they need a different approach for locomotion planning. In this paper, we aim to provide an off-line (i.e. non real-time) dynamic motion planning method for keyframed humanoids based on various numerical optimization techniques. Using inverse kinematics and the existing techniques for creating keyframed character animation, one can relatively easily generate a reference movement, which can be simulated using a real-time kinematics model of the given robot. In this case we get the reference time curves of the robot segments’ poses. It is a fact, that due to gravitational-, inertial- and frictional effects, the motion won’t exactly be the same in the real world. Assuming we have built a detailed, sophisticated dynamics model (running offline) we can formulate a norm that expresses the difference of these outputs. In this article we present our idea, how the motion could be automatically tailored by lowering this norm using numerical methods in a way, that the output of the dynamic model better approximates the reference motion. Finally, we show our experimental results obtained by implementations running within a modern simulation environment as well as on our test humanoid platform. LA - English DB - MTMT ER - TY - GEN AU - Vajta, László AU - Vajda, Ferenc AU - Juhász, Tamás AU - Urbancsek, Tamás AU - Kálmán, Viktor AU - Vogel, Miklós AU - Helybély, Ádám TI - EMSER PY - 2007 SP - 1 EP - 148 PG - 148 UR - https://m2.mtmt.hu/api/publication/2650225 ID - 2650225 LA - English DB - MTMT ER - TY - PAT AU - Dálnoki, Á AU - Helybély, Ádám AU - Juhász, Tamás AU - Kálmán, Viktor AU - Urbancsek, Tamás AU - Vajda, Ferenc AU - Vajta, László TI - Rendszer és eljárás valós objektumok mozgatására virtuális térben végrehajtott műveletekkel CY - Country:10001(1) PY - 2007 UR - https://m2.mtmt.hu/api/publication/2622653 ID - 2622653 LA - Hungarian DB - MTMT ER - TY - CONF AU - Juhász, Tamás AU - Urbancsek, Tamás ED - Borut, Zupancic TI - Beyond the limits of kinematics in planning keyframed biped locomotion T2 - Proceedings of the 6th EUROSIM Congress on Modelling and Simulation PY - 2007 SP - 78 EP - 84 PG - 7 UR - https://m2.mtmt.hu/api/publication/2622157 ID - 2622157 LA - English DB - MTMT ER - TY - CONF AU - Vajta, László AU - Urbancsek, Tamás AU - Vajda, Ferenc AU - Juhász, Tamás ED - Borut, Zupancic TI - Comparison of Different 3D (Stereo) Visualization Methods - Experimental Study T2 - Proceedings of the 6th EUROSIM Congress on Modelling and Simulation PY - 2007 SP - 1 EP - 7 PG - 7 UR - https://m2.mtmt.hu/api/publication/2621423 ID - 2621423 LA - English DB - MTMT ER - TY - GEN AU - Vámos, Gábor AU - Urbancsek, Tamás TI - Szakértői rendszer készítése Video-On-Demand tartalmak kölcsönzésének előrejelzésére felhasználói profil-képzés technikájával PY - 2007 UR - https://m2.mtmt.hu/api/publication/2618520 ID - 2618520 LA - Hungarian DB - MTMT ER - TY - GEN AU - Ladányi, J AU - Szőcs, Cs AU - Vajda, Ferenc AU - Urbancsek, Tamás AU - Juhász, Tamás AU - Vajta, László TI - 3D megjelenítés nagyméretű LED-es kijelzőkön PY - 2006 UR - https://m2.mtmt.hu/api/publication/2650232 ID - 2650232 LA - Hungarian DB - MTMT ER - TY - CONF AU - Arató, Péter AU - Vajta, László AU - Urbancsek, Tamás AU - George, Chamilothoris TI - Design of an Internet-Based Tele-Microrobotical Laboratory Assignment T2 - 4th IEEE International Conference on Computational Cybernetics PB - IEEE C1 - New York, New York PY - 2006 SP - 97 EP - 100 PG - 4 DO - 10.1109/ICCCYB.2006.305739 UR - https://m2.mtmt.hu/api/publication/2650012 ID - 2650012 LA - English DB - MTMT ER - TY - CHAP AU - Urbancsek, Tamás ED - Urbancsek, Tamás TI - Neue Algorithmen in der VR-Basierten Internet Telerobotik T2 - Wissenschaftliche Mitteilungen der 17. Frühlingsakademie PB - Logod Bt. CY - Budapest SN - 963866973X PY - 2005 SP - 129 EP - 132 PG - 4 UR - https://m2.mtmt.hu/api/publication/2650013 ID - 2650013 AB - The realization of visual feedback is critical to quality and usability of telerobotic applications. This article surveys some techniques and methods that may increase usability and quality of Virtual Reality based Internet telerobotic systems. The article also describes how these methods can be combined with each other and what derived problems are the engineers face to during the telerobotical system construction. LA - German DB - MTMT ER -