Robot interaction control is one of the most challenging targets for industrial robotics. While it would provide the robotic systems with a high degree of autonomy, its effectiveness is limited by the complexity ...
ISBN:
(纸本)9783540001591
Robot interaction control is one of the most challenging targets for industrial robotics. While it would provide the robotic systems with a high degree of autonomy, its effectiveness is limited by the complexity of this problem and by the necessity of special sensors (six-dof force sensors). On the other hand, the control methodologies to be adopted for addressing this problem can be considered mature and well-assessed. All the known interaction control strategies (e.g. impedance, direct force control) are tackled and reshuffled in a geometrically consistent way for simplification of the task specification and enhancement of the execution performance. This book represents the first step towards the application of theoretical results at an industrial level; in fact each proposed control algorithm is experimentally tested here on an industrial robotic setup.
In this paper we describe experiments with networks of robots and sensors in support of search and rescue and first response operations. The system we consider includes a network of Mica Mote sensors that can monitor ...
详细信息
ISBN:
(纸本)3540334521
In this paper we describe experiments with networks of robots and sensors in support of search and rescue and first response operations. The system we consider includes a network of Mica Mote sensors that can monitor temperature, light, and the movement of the structure on which they rest. We also consider an extension to chemical sensing in simulation only. An ATRV-Mini robot is extended with a Mote sensor and a protocol that allows it to interact with the network. We present algorithms and experiments for aggregating global maps in sensor space and using these maps for navigation. The sensor experiments were performed outdoors as part of a Search and Rescue. exercise with practitioners in the field.
In this paper, we present a new adaptation of the regular polygon detection algorithm for real-time road sign detection for autonomous vehicles. The method is robust to partial occlusion and fading, and insensitive to...
详细信息
ISBN:
(纸本)3540334521
In this paper, we present a new adaptation of the regular polygon detection algorithm for real-time road sign detection for autonomous vehicles. The method is robust to partial occlusion and fading, and insensitive to lighting conditions. We experimentally demonstrate its application to the detection of various signs, particularly evaluating it on a sequence of roundabout signs taken from the ANU/NICTA vehicle. The algorithm runs faster than 20 frames per second on a standard PC, detecting signs of the size that appears in road scenes, as observed from a camera mounted on the rear-vision mirror. The algorithm uses the symmetric nature of regular polygonal shapes, we also use the constrained appearance of such shapes in the road scene to the car in order to facilitate their fast, robust detection.
The design and control of high power water hydraulic robotic systems presents unique challenges. This paper describes some of those challenges and the techniques used to overcome them to develop a unique system for an...
详细信息
ISBN:
(纸本)3540334521
The design and control of high power water hydraulic robotic systems presents unique challenges. This paper describes some of those challenges and the techniques used to overcome them to develop a unique system for an autonomous robotic drilling machine for underground mining.
This paper presents a novel design and a motion planner for a semipassive mobile robot. The robot consists of an upper circular body and three identical semi-passive driving mechanisms. Each mechanism consists of a pa...
详细信息
ISBN:
(纸本)3540334521
This paper presents a novel design and a motion planner for a semipassive mobile robot. The robot consists of an upper circular body and three identical semi-passive driving mechanisms. Each mechanism consists of a passive wheel that can freely roll, a rotation actuator along the normal axes and a linear actuator for motion along the radial direction of the upper body center. The robot is equipped with an inclinometer to measure the surface slope. Each wheel is also equipped with a rotational encoder to measure roll. Using an odometric model, data from these encoders determines vehicle position. Kinematic analysis provides tools for designing a motion path that steers the robot to the desired location, and determines the singular configurations. Due to the passive roll, there is no longitudinal slippage, and lateral slippage is determined from the kinematic and odometric models. This enables accurate and reliable localization even with slippage. A gait pattern planer for downhill, as well as horizontal and uphill surfaces is presented. A prototype robot has been built and field tested. Experimental results verify the suggested models.
Autonomous navigation using natural landmarks in an unexplored environment is a very difficult problem to handle. While there are many techniques capable of matching pre-defined objects correctly, few of them can be u...
详细信息
ISBN:
(纸本)3540334521
Autonomous navigation using natural landmarks in an unexplored environment is a very difficult problem to handle. While there are many techniques capable of matching pre-defined objects correctly, few of them can be used for real-time navigation in an unexplored environment. One important unsolved problem is to efficiently-select a minimum set of usable landmarks for localisation purposes. This paper presents a method which minimises the number of landmarks selected based on texture descriptors. This enables localisation based on only a few distinctive landmarks rather than handling hundreds of irrelevant landmarks per image. The distinctness of a landmark is calculated based on the mean and covariance matrix of the feature descriptors of landmarks from an entire history of images. The matrices are calculated in a training process and updated during real-time navigation.
For underground mining operations human operated LHD vehicles are typically used for transporting ore. Because of security issues and of the cost of human operators, alternative solutions such as tele-operated vehicle...
详细信息
ISBN:
(纸本)3540334521
For underground mining operations human operated LHD vehicles are typically used for transporting ore. Because of security issues and of the cost of human operators, alternative solutions such as tele-operated vehicles are often in use. Tele-operation, however, leads to reduced efficiency, and it is not an ideal solution. Full automation of the LHD vehicles is a, challenging task, which is expected to result in increased operational efficiency, cost efficiency, and safety. In this paper, we present our approach to a fully automated solution currently under development. We use a fuzzy behavior-based approach for navigation, and develop a cheap and robust localization technique based on the deployment of inexpensive passive radio frequency identification (RFID) tags at key points in the mine.
暂无评论