The main contribution of this paper is the reformulation of the simultaneous localization and mapping (SLAM) problem for mobile robots such that the mapping and localization can be treated as two concurrent yet separa...
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ISBN:
(纸本)9783540481102
The main contribution of this paper is the reformulation of the simultaneous localization and mapping (SLAM) problem for mobile robots such that the mapping and localization can be treated as two concurrent yet separated processes: D-SLAM (decoupled SLAM). It is shown that SLAM can be decoupled into solving a non-linear static estimation problem for mapping and a low-dimensional dynamic estimation problem for localization. The mapping problem can be solved using an Extended Information Filter where the information matrix is shown to be exactly sparse. A significant saving in the computational effort can be achieved for large scale problems by exploiting the special properties of sparse matrices. An important feature of D-SLAM is that the correlation among landmarks are still kept and it is demonstrated that the uncertainty of the map landmarks monotonically decrease. The algorithm is illustrated through computer simulations and experiments.
Robotic manipulation at the nanometer scale is a, promising technology for structuring, characterizing and assembling nano building blocks into nanoelectromechanical systems (NEMS). Combined with recently developed na...
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ISBN:
(纸本)9783540481102
Robotic manipulation at the nanometer scale is a, promising technology for structuring, characterizing and assembling nano building blocks into nanoelectromechanical systems (NEMS). Combined with recently developed nanofabrication processes, a hybrid approach to building NEMS from individual carbon nanotubes (CNTs) and SiGe/Si nanocoils is described. Nanosensors and nanoactuators are investigated from experimental, theoretical, and design perspectives.
Since robotic applications are becoming more and more sophisticated, the design, development, and maintenance of the related software may benefit from a modular approach both in terms of flexibility and reusability. B...
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This paper describes a general passivity-based framework for the control of flexible joint robots. Recent results on torque, position, as well as impedance control of flexible joint robots are summarized, and the rela...
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ISBN:
(纸本)9783540481102
This paper describes a general passivity-based framework for the control of flexible joint robots. Recent results on torque, position, as well as impedance control of flexible joint robots are summarized, and the relations between the individual contributions are highlighted. It is shown that an inner torque feedback loop can be incorporated into a passivity-based analysis by interpreting torque feedback in terms of shaping of the motor inertia. This result, which implicitly was already included in earlier work on torque and position control, can also be used for the design of impedance controllers. For impedance control, furthermore, potential energy shaping is of special interest. It is shown how, based only on the motor angles, a potential function can be designed which simultaneously incorporates gravity compensation and a desired Cartesian stiffness relation for the link angles. All the presented controllers were experimentally evaluated on DLR lightweight robots and their performance and robustness shown with respect to uncertain model parameters. Experimental results with position controllers as well as an impact experiment are presented briefly, and an overview of several applications is given in which the controllers have been applied.
We postulate that multi-wheel statically-stable mobile robots for operation in human environments are an evolutionary dead end. Robots of this class tall enough to interact meaningfully with people must have low cente...
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ISBN:
(纸本)9783540481102
We postulate that multi-wheel statically-stable mobile robots for operation in human environments are an evolutionary dead end. Robots of this class tall enough to interact meaningfully with people must have low centers of gravity, overly wide bases of support, and very low accelerations to avoid tipping over. Accordingly, we are developing an inverse of this type of mobile robot that is the height, width, and weight of a person, having a high center of gravity, that balances dynamically on a single spherical wheel. Unlike balancing 2-wheel platforms which must turn before driving in some direction, the single-wheel robot can move directly in any direction. We present the overall design, actuator mechanism based on an inverse mouse-ball drive, control system, and initial results including dynamic balancing, station keeping, and point-to-point motion.
In general, we face recurrently some common problems when programming robotic systems: multithreading and multiprocessing, distributed computing, hardware abstraction, hardware and software integration, multiple level...
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Software architecture is becoming one of the central topics in software engineering. In early publications, such as [Sha88], software architecture was by and large synonymous with global design. In [SG96] we read &quo...
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Domain Engineering is a set of activities aiming at developing reusable artifacts within a domain. The term domain is used to denote or group a set of systems or functional areas within systems, that exhibit similar f...
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Application frameworks play a major role in fostering reusability of robotic software solutions. Frameworks foster the reuse of code and design and offer a convenient model of object-oriented extensibility. They provi...
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