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检索条件"丛书名=Springer Tracts in Advanced Robotics"

共 918 条记录，以下是351-360 订阅

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Robust 3-D Visual SLAM in a Large-Scale Environment

Robust 3-D Visual SLAM in a Large-Scale Environment

引用

14th International Symposium on robotics Research (ISSR)

作者： Kim, Jungho Yoon, Kuk-Jin Kweon, In So Korea Adv Inst Sci & Technol 373-1 Guseong Dong Taejon 305701 South Korea GIST Gwangju South Korea

ISBN: (纸本)9783642194566

Motion estimation approaches enable the robust prediction of successive camera poses when a camera undergoes erratic motion. It is especially difficult to make robust predictions under such conditions when using a constant-velocity model. However, motion estimation itself inevitably involves pose errors that result in the production of an inconsistent map. To solve this problem, we propose a novel 3D visual SLAM approach in which both motion estimation and stochastic filtering are performed;in the proposed method, visual odometry and Rao-blackwellized particle filtering are combined. First, to ensure that the process and the measurement noise are independent (they are actually dependent in the case of a single sensor), we simply divide observations (i.e., image features) into two categories, common features observed in the consecutive key-frame images and new features detected in the current key-frame image. In addition, we propose a key-frame SLAM to reduce error accumulation with a data-driven proposal distribution. We demonstrate the accuracy of the proposed method in terms of the consistency of the global map.

关键词： Motion estimation

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Cybernetic Human HRP-4C: A Humanoid Robot with Human-Like Proportions

Cybernetic Human HRP-4C: A Humanoid Robot with Human-Like Pr...

引用

14th International Symposium on robotics Research (ISSR)

作者： Kajita, Shuuji Kaneko, Kenji Kaneiro, Fumio Harada, Kensuke Morisawa, Mitsuharu Nakaoka, Shin'ichiro Miura, Kanako Fujiwara, Kiyoshi Neo, Ee Sian Hara, Isao Yokoi, Kazuhito Hirukawa, Hirohisa AIST Tsukuba Japan

Cybernetic human HRP-4C is a humanoid robot whose body dimensions were designed to match the average Japanese young female. In this paper, we explain the aim of the development, realization of human-like shape and dim... 详细信息

ISBN: (纸本)9783642194566

关键词： Anthropomorphic robots

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robotics Research 2011

引用

丛书名： springer tracts in advanced robotics

2011年

作者： Cédric Pradalier Roland Siegwart Gerhard Hirzinger

ISBN: (数字)9783642194573

ISBN: (纸本)9783642194566

This volume presents a collection of papers presented at the 14th International Symposium of Robotic Research (ISRR). ISRR is the biennial meeting of the International Foundation of Robotic Research (IFRR) and its 14th edition took place in Lucerne, Switzerland, from August 31st to September 3rd, 2009. As for the previous symposia, ISRR 2009 followed up on the successful concept of a mixture of invited contributions and open submissions. Half of the 48 presentations were therefore invited contributions from outstanding researchers selected by the IFRR officers, and half were chosen among the 66 submissions after peer review. This selection process resulted in a truly excellent technical program which, we believe, featured some of the very best of robotic research. Out of the 48 presentations, the 42 papers which were finally submitted for publication are organized in 8 sections that encompass the major research orientations in robotics: Navigation, Control & Planning, Human-Robot Interaction, Manipulation and Humanoids, Learning, Mapping, Multi-Robot Systems, and Micro-robotics. They represent an excellent snapshot of cutting-edge research in robotics and outline future directions.

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Design and Fabrication of the Harvard Ambulatory Micro-Robot

Design and Fabrication of the Harvard Ambulatory Micro-Robot

引用

14th International Symposium on robotics Research (ISSR)

作者： Baisch, Andrew T. Wood, Robert J. Harvard Univ Sch Engn & Appl Sci Cambridge MA 02138 USA

ISBN: (纸本)9783642194566

Here we present the design and fabrication of a 90mg hexapedal microrobot with overall footprint dimensions of 17 mm long x 23 mm wide. Utilizing smart composite microstructure fabrication techniques, we combine composite materials and polymers to form articulated structures that assemble into an eight degree of freedom robot. Using thin foil shape memory alloy actuators and inspiration from biology we demonstrate the feasibility of manufacturing a robot with insect-like morphology and gait patterns. This work is a foundational step towards the creation of an insect-scale hexapod robot which will be robust both structurally and with respect to locomotion across a wide variety of terrains.

关键词： Fabrication

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Motion planning under uncertainty for robotic tasks with long time horizons

Motion planning under uncertainty for robotic tasks with lon...

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14th International Symposium on robotics Research (ISSR)

作者： Kurniawati, Hanna Du, Yanzhu Hsu, David Lee, Wee Sun Singapore MIT Alliance Res Technol Singapore 117543 Singapore Stanford Univ Dept Comp Sci Stanford CA 94305 USA Natl Univ Singapore Dept Comp Sci Singapore 117590 Singapore

ISBN: (纸本)9783642194566

Motion planning with imperfect state information is a crucial capability for autonomous robots to operate reliably in uncertain and dynamic environments. Partially observable Markov decision processes (POMDPs) provide a principled general framework for planning under uncertainty. Using probabilistic sampling, point-based POMDP solvers have drastically improved the speed of POMDP planning, enabling us to handle moderately complex robotic tasks. However, robot motion planning tasks with long time horizons remains a severe obstacle for even the fastest point-based POMDP solvers today. This paper proposes Milestone Guided Sampling (MiGS), a new point-based POMDP solver, which exploits state space information to reduce effective planning horizons. MiGS samples a set of points, called milestones, from a robot's state space and constructs a simplified representation of the state space from the sampled milestones. It then uses this representation of the state space to guide sampling in the belief space and tries to capture the essential features of the belief space with a small number of sampled points. Preliminary results are very promising. We tested MiGS in simulation on several difficult POMDPs that model distinct robotic tasks with long time horizons in both 2-D and 3-D environments. These POMDPs are impossible to solve with the fastest point-based solvers today, but MiGS solved them in a few minutes.

关键词： Motion planning under uncertainty robot motion planning POMDP

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Scansorial Landing and Perching

Scansorial Landing and Perching

引用

14th International Symposium on robotics Research (ISSR)

作者： Desbiens, Alexis Lussier Asbeck, Alan T. Cutkosky, Mark R. Stanford Univ Biomimet & Dextrous Manipulat Lab Ctr Design Res Stanford CA 94305 USA

ISBN: (纸本)9783642194566

We describe an approach whereby small unmanned aircraft can land and perch on outdoor walls. Our prototype uses an ultrasonic sensor to initiate a pitch-up maneuver as it flies toward a wall. As it begins to stall, it contacts the wall with compliant "feet" equipped with rows of miniature spines that engage asperities on the surface. A nonlinear hierarchical suspension absorbs the kinetic energy and controls contact forces in the normal and tangential directions to keep spines engaged during the landing process. Future work will include powered take-offs and maneuvering in contact with the wall.

关键词： Kinetics

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Sensing and Control on the Sphere

Sensing and Control on the Sphere

引用

14th International Symposium on robotics Research (ISSR)

作者： Corke, Peter Mahony, Robert CSIRO ICT Ctr Clayton Vic Australia Australian Natl Univ Canberra ACT Australia

ISBN: (纸本)9783642194566

The advantages of a spherical imaging model are increasingly well recognized within the robotics community. Perhaps less well known is the use of the sphere for attitude estimation, control and scene structure estimation. This paper proposes the sphere as a unifying concept, not just for cameras, but for sensor fusion, estimation and control. We review and summarize relevant work in these areas and illustrate this with relevant simulation examples for spherical visual servoing and scene structure estimation.

关键词： Spheres

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Error-Driven Refinement of Multi-scale Gaussian Maps Application to 3-D Multi-scale Map Building, Compression and Merging

Error-Driven Refinement of Multi-scale Gaussian Maps Applica...

引用

14th International Symposium on robotics Research (ISSR)

作者： Yguel, Manuel Vasquez, Dizan Aycard, Olivier Siegwart, Roland Laugier, Christian INRIA Rhone Alpes Grenoble France ETH Zentrum Zurich Switzerland UJF Grenoble France

ISBN: (纸本)9783642194566

The accuracy of Grid-based maps can be enhanced by putting a Gaussian in every cell of the map. However, this solution works poorly for coarse discretizabons in multi-scale maps. This paper proposes a method to overcome the problem by allowing several Gaussians per cell at coarse scales. We introduce a multi-scale approach to compute an error measure for each scale with respect to the finer one. This measure constitutes the basis of an incremental refinement algorithm where the error is used to select the cells in which the number of Gaussians should be increased. As a result, the accuracy of the map can be selectively enhanced by making efficient use of computational resources. Moreover, the error measure can also be applied to compress a map by deleting the finer scale clusters when the error in the coarse ones is low. The approach is based on a recent clustering algorithm that models input data as Gaussians rather than points, as is the case for conventional algorithms. In addition to mapping, this clustering paradigm makes it possible to perform map merging and to represent feature hierarchies under a sound theoretical framework. Our approach has been validated with both real and simulated 3-D data.

关键词： Errors

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Robot Audition: Missing Feature Theory Approach and Active Audition

Robot Audition: Missing Feature Theory Approach and Active A...

引用

14th International Symposium on robotics Research (ISSR)

作者： Okuno, Hiroshi G. Nakadai, Kazuhiro Kim, Hyun-Don Kyoto Univ Grad Sch Informat Sakyo Ku Yoshida Honmachi Kyoto 6068501 Japan Honda Res Inst Japan Co Ltd Saitama 3510188 Japan Tokyo Inst Technol Tokyo Japan

ISBN: (纸本)9783642194566

Robot capability of listening to several things at once by its own ears, that is, robot audition, is important in improving interaction and symbiosis between humans and robots. The critical issue in robot audition is real-time processing and robustness against noisy environments with high flexibility to support various kinds of robots and hardware configurations. This paper presents two important aspects of robot audition;Missing-Feature-Theory (MET) approach and active audition. HARK open-source robot audition incorporates MFT approach to recognize speech signals that are localized and separated from a mixture of sound captured by 8-channel microphone array. HARK is ported to four robots, Honda ASIMO, SIG2, Robovie-R2 and HRP-2, with different microphone configurations and recognizes three simultaneous utterances with 1.9 sec latency. In binaural hearing, the most famous problem is a front-back confusion of sound sources. Active binaural robot audition implemented on SIG2 disambiguates the problem well by rotating its head with pitting. This active audition improves the localization for the periphery.

关键词： Audition

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From Sensorimotor Primitives to Manipulation and Imitation Strategies in Humanoid Robots

From Sensorimotor Primitives to Manipulation and Imitation S...

引用

14th International Symposium on robotics Research (ISSR)

作者： Asfour, Tamim Do, Martin Welke, Kai Bierbaum, Alexander Azad, Pedram Vahrenkamp, Nikolaus Gaertner, Stefan Ude, Ales Dillmann, Ruediger Karlsruhe Inst Technol KIT Inst Anthropomat Humanoids & Intteligence Lab Karlsruhe Germany

ISBN: (纸本)9783642194566

Regardless of the application area, one of the common problems tackled in humanoid robotics is the investigation towards understanding of human-like information processing and the underlying mechanisms of the human brain in dealing with the real world. Therefore, we are building humanoid robots with complex and rich sensorimotor capabilities as the most suitable experimental platform for studying cognitive information processing. The target system is supposed to interact and function together with humans. It is meant to be able to cooperate and to enter a dialogue with them. Therefore it needs to understand both what it perceives and what it does. To achieve this goal we are following a holistic approach and investigating how different partial results, achieved in sub-disciplines related to the development of humanoids, fit together to achieve complete processing models and integrative system architectures, and how to evaluate results at system level rather than focusing on the performance of component algorithms. In this paper we present our recent and current progress in this direction. For doing so, we present our work on the development of humanoid platforms, the programming of grasping and manipulation tasks, the multi-sensory object exploration as well as the learning of motor knowledge from human observation.

关键词： Anthropomorphic robots

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