This paper presents improvements in contact-before-motion planning for humanoid robot's that enables to find a path in very coustrained environments. Starting from our previous work, the main novelties are to use ...
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ISBN:
(纸本)9783642001956
This paper presents improvements in contact-before-motion planning for humanoid robot's that enables to find a path in very coustrained environments. Starting from our previous work, the main novelties are to use a rough trajectory to drive the search and as a criterion to find new contacts and generate the best nodes first. This way only few nodes are effectively explored, speeding up the planning process. We experience the algorithm on the humanoid HRP-2 in a complex scenario.
We discuss a novel autonomous system which integrates onboard deliberation with execution and probabilistic state estimation for an adaptive Autonomous Underwater Vehicle for deep sea exploration. The work is motivate...
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ISBN:
(纸本)9783642001956
We discuss a novel autonomous system which integrates onboard deliberation with execution and probabilistic state estimation for an adaptive Autonomous Underwater Vehicle for deep sea exploration. The work is motivated by the need to have AUVs be goal-directed, perceptive, adaptive and robust in the context of dynamic and uncertain conditions. The challenges leading to deployment required dealing with modeling uncertainty and integrating control loops at different levels of abstraction and response for a dynamic environment. The system is general-purpose and adaptable to other ocean going and terrestrial platforms.
We develop a control scheme to coordinate a group of mobile sensors for radiation mapping of a given planar polygon region. The scheme is based on the concept of information surfing, where navigation is done by follow...
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ISBN:
(纸本)9783642001956
We develop a control scheme to coordinate a group of mobile sensors for radiation mapping of a given planar polygon region. The scheme is based on the concept of information surfing, where navigation is done by following information gradients, taking into account sensing performance as well as dynamics of the observed process. The control scheme steers mobile sensors to locations at which they maximize the information content of their measurement data. The resulting controllers depend on both time, sensor measurements and local robot configurations, and the approach exploits the asymptotic properties of mutual information to offer an invariance-type stability result for a time-varying distributed cooperative system.
Fast detection of moving vehicles is crucial for safe autonomous urban driving. We present the vehicle detection algorithm developed for our entry in the Urban Grand Challenge, an autonomous driving race organized by ...
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ISBN:
(纸本)9783642001956
Fast detection of moving vehicles is crucial for safe autonomous urban driving. We present the vehicle detection algorithm developed for our entry in the Urban Grand Challenge, an autonomous driving race organized by the U.S. Government in 2007. The algorithm provides reliable detection of moving vehicles from a, high-speed moving platform using laser range finders. We present the notion of motion evidence, which allows us to overcome the low signal-to-noise ratio that arises during rapid detection of moving vehicles ill noisy urban environments. We, also present and evaluate all array of optimization techniques that enable accurate detection in real time. Experimental results show empirical validation on data from the most challenging situations presented at the Urban Grand Challenge as well as other urban settings.
External actuation in self-reconfigurable modular robots promises to allow modules to shrink down in size. Synchronous external motions promise to allow fast convergence and assembly times. XBot is a modular system th...
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ISBN:
(纸本)9783642001956
External actuation in self-reconfigurable modular robots promises to allow modules to shrink down in size. Synchronous external motions promise to allow fast convergence and assembly times. XBot is a modular system that uses synchronous external actuation, but has a limited range of reachable configuratious stemming from a single motion primitive of a module rotating about another. This paper proposes to extend the motion primitives by using moves with two modules swinging in a a dynamic chain. The feasibility of these motion primitives is proven experimentally. A parameterization of the external actuation motion profiles is explored to define a space of physically valid motion profiles. The larger the space, the more robust the motion primitives will be to inexact initial conditions and to imprecision in the external actuation mechanisms. Additionally, this paper proves a configuration of XBot meta-modules can reach any configuration using just these motion primitives.
This paper presents preliminary results for research oil the development of a systematic approach for the analysis and design of teleoperation systems for miniature rotorcrafts. Through teleoperation it is possible to...
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ISBN:
(纸本)9783642001956
This paper presents preliminary results for research oil the development of a systematic approach for the analysis and design of teleoperation systems for miniature rotorcrafts. Through teleoperation it is possible to take advantage of the human cognitive abilities and control skills when performing precision flight tasks remotely. Miniature rotorcrafts provide unique capabilities for operation indoors or near buildings and infrastructure. However, they also present some unique challenges due to their limited payload and challenging dynamics. Successful aerial teleoperation will depend on our ability to implement control augmentations, and in parallel, relay the necessary cues to the operator to perform the task. To optimize the design of such a system, we need to be able to quantify the operator workload and task performance and have a systematic way to use those metrics to determine the effectiveness of the control augmentation and operator cueing being tested. The paper introduces the key aerial teleoperation challenges and uses an example flight task to illustrate our design and analysis framework.
In this paper we present the experimental results validating the approach for autonomous planetary exploration developed by the Canadian Space Agency (CSA). The goal of this work is to autonomously navigate to remote ...
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ISBN:
(纸本)9783642001956
In this paper we present the experimental results validating the approach for autonomous planetary exploration developed by the Canadian Space Agency (CSA). The goal of this work is to autonomously navigate to remote locations, well beyond the sensing horizon of the rover, with minimal interaction with a human operator. We employ LIDAR, range sensors due to their accuracy: long range and robustness in the harsh lighting conditions of space. Irregular triangular meshes (ITM) are used for representing the environment providing an accurate yet compact spatial representation. In this paper after a brief overview of the proposed approach, we discuss the terrain modelling used. A variety of experiments performed in CSA's Mars emulation terrain that validate our approach are also presented.
Motivation and Related Works: Recently, many humanoid robots have been developed and actively investigated all over the world in order to realize partner robots which coexist in the human environment. For such robots,...
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ISBN:
(纸本)9783642001956
Motivation and Related Works: Recently, many humanoid robots have been developed and actively investigated all over the world in order to realize partner robots which coexist in the human environment. For such robots, high communication ability is essential in order to naturally interact with human. Among them, an android robot developed by Ishiguro et al.[1] has a quite similar appearance to a human. Therefore generating natural motions and behaviors is very important for the android since unnatural motion of the android may give worse impression than other robots as "uncanny valley" [4] insists. Noma et al. showed that 70% of human subjects were unable to distinguish the android from a human by observing it for 2 seconds when a small human-like fluctuations which corresponds to breathing and blinking were added to its static posture[5]. They also showed that 77% of subjects recognized the android as a robot when it was standing still. This indicates that small difference in behaviors of the android can give large difference in the impression on the android.
Mechanical manipulation and characterization of biological cells is currently one of the most exciting research areas in the field of medical robotics applied to cellular level interactions. While biologists are able ...
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ISBN:
(纸本)9783642001956
Mechanical manipulation and characterization of biological cells is currently one of the most exciting research areas in the field of medical robotics applied to cellular level interactions. While biologists are able to ascertain the change in cell status visually based on mRNA or proteins markers, it is often qualitative and difficult to quantitatively define the outcome of a cell progression during differentiation. Consequently, we propose to develop a haptics-enabled atomic force microscopy system to mechanically manipulate and characterize an individual cell. The haptic feedback interface proposed in this paper comprises of a PHANTOM haptic feedback device combined with the atomic force microscope (AFM). The system has the capability of measuring forces in nN range and provides a haptic display of the cell indentation forces in real time. We conducted studies on mouse embryonic stein cells (mESC) and our experimental results indicate that the mechanical property of undifferentiated mESC differs from differenttiated mESC.
This paper describes an experimental visual tracking system for cameras mounted on miniature mobile, robots. The localization of the moving target robot is done ill two steps: (i) extracting boundary marks representin...
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ISBN:
(纸本)9783642001956
This paper describes an experimental visual tracking system for cameras mounted on miniature mobile, robots. The localization of the moving target robot is done ill two steps: (i) extracting boundary marks representing the target robot within the image, and (ii) reducing its projected position and orientation errors across images. Background segmentation is especially difficult in this problem, as there is no calibration with respect, to the scene from the mobile camera. Further difficulties arise with the constrained motion of mobile robots and performing the analysis in real-time. We also address all action selection scheme based oil error reduction as a solution for visual tracking from moving platforms. Experiments utilizing multiple miniature robots are presented to illustrate how this system can be used for following the leader, platooning, and target, interception behaviors.
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