transformer问题陈述给定一组组装初始配置块现在我们希望某些约束下根.pdf

1.问题陈述给定一组组装初始配置的块，现在 希望在某些约束下根据需要将这些块重新组装成另一个配置。 这个问题之所以有趣（也很难）在于*约束*。 2.约束 A.连续的变换顺序—没有跳跃或弹出 B.变换成本最小—变换过程需要时间和精力 C.避免 —块不是一个一个地移动，而是平行移动， 当出现以下情况时应避免 方块开始移动 3.关键连接问题： 关节应该灵活。以下关节是常见的，但它们不适合 的问题。 该块应该能够通过设计的关节移动到*任何地方* 4.联合设计及相关工作 M-Blocks:Momentum-driven,Ma ic Modular Robots -John W.Romanishin,Kyle Gilpin 和 Daniela Rus (智能机器 人与系统 (IROS),2013 IEEE/RSJ 国际会议) 5.做什么 利用这个关节， 专注于寻找最佳的连续折叠/展开顺序的任务。 假设关节可以正常工作， 不接触机械部分，毕竟 不是机械师。 1. Problem statement • Given a set of blocks which assemble an initial configuration, now we want to reassemble these blocks into another configuration as desired under some constraints. • What makes this problem interesting(and also hard) lies on the *constraints*. 2. Constraints • A. continuous transform sequence – no jum or po • B. minimal cost of transformation – the process of the transformation takes time and energy • C. avoid s – the blocks are not moving one by one but parallelly, s should be avoided when blocks take their movement 3. Key -- connectivity • Problem: • The joint should be flexible. The following joints are common, but they are not suitable for our problem. • the block should be able to move to *anywhere* with the designed joint 4. Joint design & related work • M-Blocks: Momentum-driven, Ma ic Modular Robots -- John W. Romanishin, Kyle Gilpin and Daniela Rus (In ligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on) 5. What to do • We take advantage of that joint, we focus on the task of looking for the best continuous folding/unfolding sequence. • We assume that the joint can work well, we don’t touch the mechanical part, we are not machinist af ll.