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

共 918 条记录，以下是51-60 订阅

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Geometric and Numerical Foundations of Movements 1st ed. 2017

引用

丛书名： springer tracts in advanced robotics

2017年

作者： Jean-Paul Laumond Nicolas Mansard Jean-Bernard Lasserre

ISBN: (数字)9783319515472

ISBN: (纸本)9783319515465

This book aims at gathering roboticists, control theorists, neuroscientists, and mathematicians, in order to promote a multidisciplinary research on movement analysis. It follows the workshop Geometric and Numerical Foundations of Movements held at LAAS-CNRS in Toulouse in November 2015[1]. Its objective is to lay the foundations for a mutual understanding that is essential for synergetic development in motion research. In particular, the book promotes applications to robotics --and control in general-- of new optimization techniques based on recent results from real algebraic geometry.

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Aerial Locomotion in Cluttered Environments 15th

Aerial Locomotion in Cluttered Environments

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15th International Symposium of robotics Research (ISRR)

作者： Floreano, Dario Zufferey, Jean-Christophe Klaptocz, Adam Germann, Jurg Kovac, Mirko Ecole Polytech Fed Lausanne Lab Intelligent Syst Lausanne Switzerland Harvard Univ Wyss Inst Cambridge MA 02138 USA

ISBN: (纸本)9783319293639;9783319293622

Many environments where robots are expected to operate are cluttered with objects, walls, debris, and different horizontal and vertical structures. In this chapter, we present four design features that allow small robots to rapidly and safely move in 3 dimensions through cluttered environments: a perceptual system capable of detecting obstacles in the robot's surroundings, including the ground, with minimal computation, mass, and energy requirements;a flexible and protective framework capable of withstanding collisions and even using collisions to learn about the properties of the surroundings when light is not available;a mechanism for temporarily perching to vertical structures in order to monitor the environment or communicate with other robots before taking off again;and a self-deployment mechanism for getting in the air and perform repetitive jumps or glided flight. We conclude the chapter by suggesting future avenues for integration of multiple features within the same robotic platform.

关键词： Robots

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Grasping and Fixturing as Submodular Coverage Problems 15th

Grasping and Fixturing as Submodular Coverage Problems

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15th International Symposium of robotics Research (ISRR)

作者： Schulman, John D. Goldberg, Ken Abbeel, Pieter Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA

ISBN: (纸本)9783319293639;9783319293622

Grasping and fixturing are concerned with immobilizing objects. Most prior work in this area strives to minimize the number of contacts needed. However, for delicate objects or surfaces such as glass or bone (in medical applications), extra contacts can be used to reduce the forces needed at each contact to resist applied wrenches. We focus on the following class of problems. Given a polyhedral object model, set of candidate contacts, and a limit on the sum of applied forces at the contacts or a limit on any individual applied force, compute a set of k contact points that maximize the radius of the ball in wrench space that can be resisted. We present an algorithm, SatGrasp, that is guaranteed to find near-optimal solutions in linear time. At the core of our approach are (i) an alternate formulation of the residual radius objective, and (ii) the insight that the resulting problem is a submodular coverage problem. This allows us to exploit the submodular saturation algorithm, which has recently been derived for applications in sensor placement. Our approach is applicable in situations with or without friction.

关键词： Medical applications

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Realtime Informed Path Sampling for Motion Planning Search 15th

Realtime Informed Path Sampling for Motion Planning Search

引用

15th International Symposium of robotics Research (ISRR)

作者： Knepper, Ross A. Mason, Matthew T. Cornell Univ Dept Comp Sci Gates Hall Ithaca NY 14853 USA Carnegie Mellon Univ Inst Robot 5000 Forbes Ave Pittsburgh PA 15213 USA

ISBN: (纸本)9783319293639;9783319293622

Robot motions typically originate from an uninformed path sampling process such as random or low-dispersion sampling. We demonstrate an alternative approach to path sampling that closes the loop on the expensive collision-testing process. Although all necessary information for collision-testing a path is known to the planner, that information is typically stored in a relatively unavailable form in a costmap. By summarizing the most salient data in a more accessible form, our process delivers a denser sampling of the free space per unit time than open-loop sampling techniques. We obtain this result by probabilistically modeling-in real time and with minimal information-the locations of obstacles, based on collision test results. We demonstrate up to a 780 % increase in paths surviving collision test.

关键词： Motion planning

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Force Control and Reaching Movements on the iCub Humanoid Robot 15th

Force Control and Reaching Movements on the iCub Humanoid Ro...

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15th International Symposium of robotics Research (ISRR)

作者： Metta, Giorgio Natale, Lorenzo Nori, Francesco Sandini, Giulio Ist Italiano Tecnol iCub Facil Via Morego 30 Genoa Italy Ist Italiano Tecnol Robot Brain & Cognit Sci Via Morego 30 Genoa Italy

ISBN: (纸本)9783319293639;9783319293622

This paper is about a layered controller for a complex humanoid robot: namely, the iCub. We exploited a combination of precomputed models and machine learning owing to the principle of balancing the design effort with the complexity of data collection for learning. A first layer uses the iCub sensors to implement impedance control, on top of which we plan trajectories to reach for visually identified targets while avoiding the most obvious joint limits or self collision of the robot arm and body. Modeling errors or misestimation of parameters are compensated by machine learning in order to obtain accurate pointing and reaching movements. Motion segmentation is the main visual cue employed by the robot.

关键词： Anthropomorphic robots

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Pre-image Backchaining in Belief Space for Mobile Manipulation 15th

Pre-image Backchaining in Belief Space for Mobile Manipulati...

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15th International Symposium of robotics Research (ISRR)

作者： Kaelbling, Leslie Pack Lozano-Perez, Tomas MIT CSAIL 77 Massachusetts Ave Cambridge MA 02139 USA

ISBN: (纸本)9783319293639;9783319293622

There have been several recent approaches to planning and control in uncertain domains, based on online planning in a determinized approximation of the belief-space dynamics, and replanning when the actual belief state diverges from the predicted one. In this work, we extend this approach to planning for mobile manipulation tasks with very long horizons, using a hierarchical combination of logical and geometric representations. We present a novel approach to belief-space preimage backchaining with logical representations, an efficient method for on-line execution monitoring and replanning, and preliminary results on mobile manipulation tasks.

关键词： Artificial intelligence

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Distributed Safe Deployment of Networked Robots 1

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12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Alitappeh, Reza Javanmard Pimenta, Luciano C. A. Univ Fed Minas Gerais Ave Antonio Carlos 6627 BR-31270901 Belo Horizonte MG Brazil

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

In real applications, it is always important to consider the generation of safe paths for robots during deployment or in future excursions through the environment. In order to include safety in the problem of deploying mobile robotic networks, we propose a new strategy based on the locational optimization framework. Our approach models the optimal deployment problem as a constrained optimization problem with inequality and equality constraints. This optimization model is built by incorporating into the locational optimization framework new features such as the classical Generalized Voronoi Diagram (GVD) commonly used as a safe roadmap in the context of path planning and a new metric to compute distance between robots and points in the environment. This new metric induces a new Voronoi partition of the environment. Furthermore, inspired by the classical Dijkstra algorithm, we present a novel efficient distributed algorithm to compute solutions in complicated environments.

关键词： Mobile robotic network Locational optimization Deployment problem Voronoi partitioning

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RatSLAM: Using Models of Rodent Hippocampus for Robot Navigation and Beyond 16th

RatSLAM: Using Models of Rodent Hippocampus for Robot Naviga...

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16th International Symposium on robotics Research (ISSR)

作者： Milford, Michael Jacobson, Adam Chen, Zetao Wyeth, Gordon Queensland Univ Technol Sch Elect Engn & Comp Sci Brisbane Qld Australia

ISBN: (纸本)9783319288727;9783319288703

We describe recent biologically-inspired mapping research incorporating brain-based multi-sensor fusion and calibration processes and a new multi-scale, homogeneous mapping framework. We also review the interdisciplinary approach to the development of the RatSLAM robot mapping and navigation system over the past decade and discuss the insights gained from combining pragmatic modelling of biological processes with attempts to close the loop back to biology. Our aim is to encourage the pursuit of truly interdisciplinary approaches to robotics research by providing successful case studies.

关键词： Mapping

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Potential Game-Theoretic Analysis of a Market-Based Decentralized Task Allocation Algorithm 1

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12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Choi, Han-Lim Kim, Keum-Seong Johnson, Luke B. How, Jonathan P. Korea Adv Inst Sci & Technol Dept Aerosp Engn 291 Daehak Ro Daejeon 305701 South Korea MIT Dept Aeronaut & Astronaut 77 Massachusetts Ave Cambridge MA 02139 USA

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

This paper presents a potential game-theoretic interpretation and analysis of a decentralized task allocation algorithm, consensus-based bundled algorithm, which was developed by the authors' prior work. It is, in particular, proved that the consensus-based bundle algorithm converges to a pure strategy Nash equilibrium of some distributed welfare game, and the price of anarchy and the price of stability of this equilibrium are 1/2 and 1, respectively.

关键词： Task allocation Potential game Multi-robot planning Decentralized planning Cooperative control

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Update on the Qualification of the Hakuto Micro-rover for the Google Lunar X-Prize 10th

Update on the Qualification of the Hakuto Micro-rover for th...

引用

10th International Conference on Field and Service robotics (FSR)

作者： Walker, John Britton, Nathan Yoshida, Kazuya Shimizu, Toshiro Burtz, Louis-Jerome Pala, Alperen Tohoku Univ Sendai Miyagi 980 Japan Ispace Technol Inc Tokyo Japan

ISBN: (纸本)9783319277028;9783319277004

Hakuto is developing a dual rover system for the Google Lunar XPRIZE (GLXP) and exploration of a potential lava tube skylight. We designed, built and tested two rovers and a lander interface in order to prove flight-readiness. The rover architecture was iterated over several prototype phases as an academic project, and then updated for flight-readiness using space-ready Commercial Off The Shelf (COTS) parts and a program for qualifying terrestrial COTS parts as well as the overall system. We have successfully tested a robust rover architecture including controllers with performance orders of magnitude higher than currently available space-ready controllers. The test regime included component level radiation testing to 15.3 kilo-rads, integrated thermal vacuum testing to simulate the environments during the cruise phase and surface mission phases, integrated vibration testing to 10 Grms, and field testing. The overall development methodology of moving from a flexible architecture composed of inexpensive parts towards a single purpose architecture composed of qualified partswas successful and all components passed testing, with onlyminor changes required to flight model rovers required ahead of amid 2016 launch date.

关键词： Rovers

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