GPU based approach for fast generation of robot capability representations
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...
| Main Authors: | , |
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| Format: | Article |
| Language: | Spanish |
| Published: |
Instituto Tecnológico de Costa Rica
2022-11-01
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| Series: | Tecnología en Marcha |
| Subjects: | |
| Online Access: | https://172.20.14.50/index.php/tec_marcha/article/view/6449 |
| _version_ | 1797652959356518400 |
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| author | Daniel García Vaglio Federico Ruiz Ugalde |
| author_facet | Daniel García Vaglio Federico Ruiz Ugalde |
| author_sort | Daniel García Vaglio |
| collection | DOAJ |
| description |
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.
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| first_indexed | 2024-03-11T16:36:45Z |
| format | Article |
| id | doaj.art-0752fadafa9b41779a5ed38988505cd2 |
| institution | Directory Open Access Journal |
| issn | 0379-3982 2215-3241 |
| language | Spanish |
| last_indexed | 2024-03-11T16:36:45Z |
| publishDate | 2022-11-01 |
| publisher | Instituto Tecnológico de Costa Rica |
| record_format | Article |
| series | Tecnología en Marcha |
| spelling | doaj.art-0752fadafa9b41779a5ed38988505cd22023-10-23T14:27:37ZspaInstituto Tecnológico de Costa RicaTecnología en Marcha0379-39822215-32412022-11-0135810.18845/tm.v35i8.6449GPU based approach for fast generation of robot capability representationsDaniel García VaglioFederico Ruiz Ugalde 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. https://172.20.14.50/index.php/tec_marcha/article/view/6449GPU computationcapability mapsrobotic dexterity |
| spellingShingle | Daniel García Vaglio Federico Ruiz Ugalde GPU based approach for fast generation of robot capability representations Tecnología en Marcha GPU computation capability maps robotic dexterity |
| title | GPU based approach for fast generation of robot capability representations |
| title_full | GPU based approach for fast generation of robot capability representations |
| title_fullStr | GPU based approach for fast generation of robot capability representations |
| title_full_unstemmed | GPU based approach for fast generation of robot capability representations |
| title_short | GPU based approach for fast generation of robot capability representations |
| title_sort | gpu based approach for fast generation of robot capability representations |
| topic | GPU computation capability maps robotic dexterity |
| url | https://172.20.14.50/index.php/tec_marcha/article/view/6449 |
| work_keys_str_mv | AT danielgarciavaglio gpubasedapproachforfastgenerationofrobotcapabilityrepresentations AT federicoruizugalde gpubasedapproachforfastgenerationofrobotcapabilityrepresentations |