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

共 918 条记录，以下是661-670 订阅

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Container port automation 5th

Container port automation

引用

5th International Conference on Field and Service robotics

作者： Nelmes, Graeme Patrick Cooperation Australia

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Vision-based grasping points determination by multifingered hands 5th

Vision-based grasping points determination by multifingered ...

引用

5th International Conference on Field and Service robotics

作者： Boudaba, Madjid Casals, Alicia Osswald, Dirk Woern, Heinz TES Elect Solut GmbH Zettachring 8 D-70567 Stuttgart Germany Univ Catalonia Dept ESAII Automat Control & Comp Engn Barcelona 08028 Spain Univ Karlsruhe Inst Process Control & Robot D-76131 Karlsruhe Germany

ISBN: (纸本)3540334521

This paper discusses some issues for generating points of contact on object grasping by multifingered robot hands. To address these issues, we present a general algorithm based on computer vision techniques for determining grasping points through a sequence of processes: (1) object's visual features, we apply some algorithms for extracting vertices, edges, object's contours, (3) modeling the point of contact by a bounded polytope, (3) based on these features, the developed algorithm starts by analysing the object's contour to generate a set of contact points that guarantee the force-closure grasps condition. Finally, we briefly describe some experiments on a humanoid robot with a stereo camera head and an anthropomorphic robot hand within the "Center of Excellence on Humanoid Robots: Learning and co-operating Systems" at the University of Karlsruhe and the Forschungszentrum Karlsruhe.

关键词： vision system points of contacts force-closure grasping linear programmimg implementation

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The Berkeley Lower Extremity Exoskeleton 5th

The Berkeley Lower Extremity Exoskeleton

引用

5th International Conference on Field and Service robotics

作者： Kazerooni, H. Univ Calif Berkeley Berkeley CA 94720 USA

ISBN: (纸本)3540334521

The first functional load-carrying and energetically autonomous exoskeleton was demonstrated at U.C. Berkeley, walking at the average speed of 1.3 m/s while carrying a 34 kg (75 lb) payload. Four fundamental technologies associated with the Berkeley Lower Extremity Exoskeleton (BLEEX) were tackled during the course of this project. These four core technologies include: the design of the exoskeleton architecture, control schemes, a body local area network (bLAN) to host the control algorithm and an on-board power unit to power the actuators, sensors and the computers. This article gives an overview of one of the control schemes. The analysis here is an extension of the classical definition of the sensitivity function of a system: the ability of a system to reject disturbances or the measure of system robustness. The control algorithm developed here increases the closed loop system sensitivity to its wearer's forces and torques without any measurement from the wearer (such as force, position, or electromyogram signal). The control method has little robustness to parameter variations and therefore requires a relatively good dynamic model of the system.

关键词： Closed loop systems

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Constrained motion planning in discrete state spaces 5th

Constrained motion planning in discrete state spaces

引用

5th International Conference on Field and Service robotics

作者： Pivtoraiko, Mihail Kelly, Alonzo Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)3540334521

We propose a principled method to create a search space for constrained motion planning, which efficiently encodes only feasible motion plans. The space of possible paths is encoded implicitly in the connections between states, but only feasible and only local connections are allowed. Furthermore, we propose a systematic method to generate a near-minimal set of spatially distinct motion alternatives. This set of motion primitives preserves the connectivity of the representation while eliminating redundancy - leading to a very efficient structure for motion planning at the chosen resolution.

关键词： nonholonomic motion planning lattice control set

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Outdoor simultaneous localisation and mapping using RatSLAM 5th

Outdoor simultaneous localisation and mapping using RatSLAM

引用

5th International Conference on Field and Service robotics

作者： Prasser, David Milford, Michael Wyeth, Gordon Univ Queensland Sch Informat Technol & Elect Engn St Lucia Qld 4067 Australia

ISBN: (纸本)3540334521

In this paper an existing method for indoor Simultaneous Localisation and Mapping (SLAM) is extended to operate in large outdoor environments using an omnidirectional camera as its principal external sensor. The method, RatSLAM, is based upon computational models of the area in the rat brain that maintains the rodent's idea of its position in the world. The system uses the visual appearance of different locations to build hybrid spatial-topological maps of places it has experienced that facilitate relocalisation and path planning. A large dataset was acquired from a dynamic campus environment and used to verify the system's ability to construct representations of the world and simultaneously use these representations to maintain localisation.

关键词： SLAM omnidirectional vision

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An efficient extension of elevation maps for outdoor terrain mapping 5th

An efficient extension of elevation maps for outdoor terrain...

引用

5th International Conference on Field and Service robotics

作者： Pfaff, Patrick Burgard, Wolfram Univ Freiburg Dept Comp Sci Hugstetter Str 55 Freiburg Germany

ISBN: (纸本)3540334521

Elevation maps are a popular data structure for representing the environment of a mobile robot operating outdoors or on not-flat surfaces. Elevation maps store in each cell of a discrete grid the height of the surface the corresponding place in the environment. The use of this 2 1/2-dimensional representation, however, is disadvantageous when it is used for mapping 2 with mobile robots operating on the ground, since vertical or overhanging objects cannot be represented appropriately. Such objects furthermore can lead to registration errors when two elevation maps have to be matched. In this paper we propose an approach that allows a mobile robot to deal with vertical and overhanging objects in elevation maps. We classify the points in the environment according to whether they correspond to such objects or not. We also describe a variant of the ICP algorithm that utilizes the classification of cells during the data association. Experiments carried out with a real robot in an outdoor environment demonstrate that the scan matching process becomes significantly more reliable and accurate when our classification is used.

关键词： Mobile robots

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Results in combined route traversal and collision avoidance 5th

Results in combined route traversal and collision avoidance

引用

5th International Conference on Field and Service robotics

作者： Roth, Stephan Hamner, Bradley Singh, Sanjiv Hwangbo, Myung Carnegie Mellon Univ 5000 Forbes Ave Pittsburgh PA 15213 USA

ISBN: (纸本)3540334521

This paper presents an outdoor mobile robot capable of high-speed navigation in outdoor environments. Here we consider the problem of a robot that has to follow a designated path at high speeds over undulating terrain. It must also be perceptive and agile enough to avoid small obstacles. Collision avoidance is a key problem and it is necessary to use sensing modalities that are able to operate robustly in a wide variety of conditions. We report on the sensing and control necessary for this application and the results obtained to date.

关键词： outdoor mobile robot path following collision avoidance

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Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification 5th

Multi-solution problem for track-terrain interaction dynamic...

引用

5th International Conference on Field and Service robotics

作者： Hutangkalodee, S. Zweiri, Y. H. Seneviratne, L. D. Althoefer, K. Kings Coll London London WC2R 2LS England

ISBN: (纸本)3540334521

A technique for identifying lumped soil parameters on-line while traversing with a tracked unmanned ground vehicle (UGV) on an unknown terrain is presented. This paper shows the multi-solution problem when identification of soil parameters - cohesion (c), shear deformation modulus (phi), and shear deformation modulus (K) are to be attempted using the track-terrain interaction dynamics model. The initiation of the idea of lumping the cohesion and internal friction angle terms and treating them as a single parameter to solve this problem is presented. The technique used for lumped soil parameter identification is based on the Newton Raphson method. This method is proved to be very effective in terms of prediction accuracy, computational speed, and robustness to initial conditions and noise. These identified lumped soil parameters can be used to increase the autonomy of a tracked UGV. The technique presented in this paper is general and can be applied to any tracked UGV.

关键词： multi-solution lumped soil parameter identification tracked UGVs interaction dynamics Newton Raphson method

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Adaptation to rough terrain by using COF estimation on a quadruped vehicle 5th

Adaptation to rough terrain by using COF estimation on a qua...

引用

5th International Conference on Field and Service robotics

作者： Okamoto, Shogo Konishi, Kaoru Tokuda, Kenichi Tadokoro, Satoshi Tohoku Univ Grad Sch Informat Sci Aoba Ku 6-6-01 Aramaki Aza Sendai Miyagi 980 Japan Kobe Univ Grad Sch Sci & Technol Nada Kobe 6758501 Japan Wakayama Univ Dept Opto Machatoron Wakayama 6408501 Japan Tohoku Univ Grad Sch Sci & Technol Sendai Miyagi 980 Japan

ISBN: (纸本)3540334521

Foot groping is one way to evaluate the stability of footholds for legged locomotives on rough terrain. For further acquisition of ground information, we installed active ankles with two active joints on the experimental quadruped vehicle, RoQ2. To compensate the loss of passive adaptation of ankles to terrain, active adaptation using COF estimation is implemented. COF is a center of pressure on a sole and estimated by sole sensor, which consists of four FSRs. Sole sensors for COF can determine the sole plane when adapting to rough terrain. This paper also shows that our new proposition can detect an edge of a beam or a step on the ground without thrusting a foot to the objects.

关键词： COF quadruped vehicle rough terrain adaptation RoQ

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Applying a new model for machine perception and reasoning in unstructured environments 5th

Applying a new model for machine perception and reasoning in...

引用

5th International Conference on Field and Service robotics

作者： Grover, Richard Scheding, Steve Hennessy, Ross Kumar, Suresh Durrant-Whyte, Hugh Univ Sydney ARC Ctr Excellence Autonomous Syst Sydney NSW 2006 Australia

ISBN: (纸本)3540334521

This paper presents a data-fusion and interpretation system for operation of an Autonomous Ground Vehicle (AGV) in outdoor environments. It is a practical implementation of a new model for machine perception and reasoning, which has its true utility in its applicability to increasingly unstructured environments. This model provides a cohesive, sensor-centric and probabilistic summary of the available sensory data and uses this richly descriptive data to enable robust interpretation of a scene. A general model is described and the development of a specific instance of it is described in detail. Preliminary results demonstrate the utility of the approach in very large, unstructured, outdoor environments.

关键词： Machine Perception

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