full transcript

From the Ted Talk by Vijay Kumar: Robots that fly ... and cooperate

Unscramble the Blue Letters


So one fundamental pberlom that the robots have to svloe if they are to be autonomous, is essentially figuring out how to get from point A to point B. So this gets a little challenging, because the dynamics of this robot are quite complicated. In fact, they live in a 12-dimensional sapce. So we use a little trick. We take this curved 12-dimensional space, and transform it into a flat, four-dimensional space. And that four-dimensional space consists of X, Y, Z, and then the yaw angle.

And so what the roobt does, is it plans what we call a minimum-snap terajrcoty. So to remind you of physics: You have psoitoin, derivative, velocity; then acceleration; and then comes jerk, and then comes snap. So this robot minimizes snap. So what that ecffviteely does, is produce a smooth and graceful motion. And it does that avoiding obstacles. So these minimum-snap trajectories in this flat space are then transformed back into this complicated 12-dimensional space, which the robot must do for control and then execution.

Open Cloze


So one fundamental _______ that the robots have to _____ if they are to be autonomous, is essentially figuring out how to get from point A to point B. So this gets a little challenging, because the dynamics of this robot are quite complicated. In fact, they live in a 12-dimensional _____. So we use a little trick. We take this curved 12-dimensional space, and transform it into a flat, four-dimensional space. And that four-dimensional space consists of X, Y, Z, and then the yaw angle.

And so what the _____ does, is it plans what we call a minimum-snap __________. So to remind you of physics: You have ________, derivative, velocity; then acceleration; and then comes jerk, and then comes snap. So this robot minimizes snap. So what that ___________ does, is produce a smooth and graceful motion. And it does that avoiding obstacles. So these minimum-snap trajectories in this flat space are then transformed back into this complicated 12-dimensional space, which the robot must do for control and then execution.

Solution


  1. position
  2. effectively
  3. space
  4. trajectory
  5. robot
  6. solve
  7. problem

Original Text


So one fundamental problem that the robots have to solve if they are to be autonomous, is essentially figuring out how to get from point A to point B. So this gets a little challenging, because the dynamics of this robot are quite complicated. In fact, they live in a 12-dimensional space. So we use a little trick. We take this curved 12-dimensional space, and transform it into a flat, four-dimensional space. And that four-dimensional space consists of X, Y, Z, and then the yaw angle.

And so what the robot does, is it plans what we call a minimum-snap trajectory. So to remind you of physics: You have position, derivative, velocity; then acceleration; and then comes jerk, and then comes snap. So this robot minimizes snap. So what that effectively does, is produce a smooth and graceful motion. And it does that avoiding obstacles. So these minimum-snap trajectories in this flat space are then transformed back into this complicated 12-dimensional space, which the robot must do for control and then execution.

Frequently Occurring Word Combinations


ngrams of length 2

collocation frequency
robots carrying 2
small robots 2
coordinate system 2


Important Words


  1. angle
  2. autonomous
  3. avoiding
  4. call
  5. challenging
  6. complicated
  7. consists
  8. control
  9. curved
  10. derivative
  11. dynamics
  12. effectively
  13. essentially
  14. execution
  15. fact
  16. figuring
  17. flat
  18. fundamental
  19. graceful
  20. jerk
  21. live
  22. minimizes
  23. motion
  24. obstacles
  25. plans
  26. point
  27. position
  28. problem
  29. produce
  30. remind
  31. robot
  32. robots
  33. smooth
  34. snap
  35. solve
  36. space
  37. trajectories
  38. trajectory
  39. transform
  40. transformed
  41. trick
  42. yaw