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

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Modeling and experiments on a legged microrobot locomoting in a tubular, compliant and slippery environment 1

引用

9th International Symposium on Experimental robotics (ISER)

作者： Stefanini, Cesare Menciassi, Arianna Dario, Paolo Scuola Super Sant Anna CRIM Lab I-56025 Pisa Italy

ISBN: (数字)9783540330141

ISBN: (纸本)9783540288169;9783642066894

This paper presents the concept and preliminary modeling of a legged microrobot locomoting in a tubular compliant and slippery environment. The envisaged application field is related to capsular endoscopy. i.e., the development of a mobile swallowable capsule for navigation inside the gastrointestinal tract for diagnosis and therapy. After introducing and discussing the issue of autonomous locomotion of endoscopic devices, with reference to worldwide ongoing research in the field, the legged solution is proposed and peculiarities of this approach are described. The importance of simulation for developing a legged device is discussed and a locomotion model is presented. Experimental results are described for the definition of biomechanical parameters necessary in the model. Thanks to this work first simulations have been obtained, in which the microrobot's body moves according to arbitrary gait patterns for the legs and to its interaction with tissue. The resulting tool will be used for the design synthesis, for defining the optimal number of legs and the best number of degrees of freedom for each leg. It will be also used for controlling the device, by identifying the gait pattern to be adopted in order to obtain different capsule movements.

关键词： endoscopy legged locomotion soft tissue modeling gastrointestinal tract

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Bimodal active stereo vision 5th

Bimodal active stereo vision

引用

5th International Conference on Field and Service robotics

作者： Dankers, Andrew Barnes, Nick Zelinsky, Alex Natl ICT Australia Locked Bag 8001 Canberra ACT 2601 Australia Australian Natl Univ Canberra ACT 2601 Australia Australian Natl Univ CISRO ICT Ctr Canberra ACT 0200 Australia

ISBN: (纸本)3540334521

We present a biologically inspired active vision system that incorporates two modes of perception. A peripheral mode provides a broad and coarse perception of where mass is in the scene in the vicinity of the current fixation point, and how that mass is moving. It involves fusion of actively acquired depth data into a 3D occupancy grid. A foveal mode then ensures coordinated stereo fixation upon mass/objects in the scene, and enables extraction of the mass/object using a maximum a-posterior probability zero disparity filter. Foveal processing is limited to the vicinity of the camera optical centres. Results for each mode and both modes operating in parallel are presented. The regime operates at approximately 15Hz on a 3GHz single processor PC.

关键词： active stereo vision road-scene fovea periphery

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Topological global localization for subterranean voids 5th

Topological global localization for subterranean voids

引用

5th International Conference on Field and Service robotics

作者： Silver, David Carsten, Joseph Thayer, Scott Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)3540334521

The need for reliable maps of subterranean spaces too hazardous for humans to occupy has motivated the development of robotic mapping tools. For such systems to be fully autonomous, they must be able to deal with all varieties of subterranean environments, including those containing loops. This paper presents an approach for an autonomous mobile robot to determine if the area currently being explored has been previously visited. Combined with other techniques in topological mapping, this approach will allow for the fully autonomous general exploration of subterranean spaces. Data collected from a research coal mine is used to experimentally verify our approach.

关键词： Coal mines

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Long-term activities for autonomous mobile robot - Autonomous insertion of a plug into real electric outlet by a mobile manipulator 5th

Long-term activities for autonomous mobile robot - Autonomou...

引用

5th International Conference on Field and Service robotics

作者： Yamada, Tomofumi Nagatani, Keiji Tanaka, Yutaka Okayama Univ Grad Sch Nat Sci & Technol 3-1-1 Tsushima Naka Okayama 7008530 Japan Tohoku Univ Grad Sch Engn Sendai Miyagi 980 Japan

ISBN: (纸本)3540334521

Mobile robots used in the human-robot coexisting environment are required to perform continuous works without human maintenance. On the other hand, they need a rechargeable batteries that require charge, generally. Therefore, an autonomous battery-charging for mobile robots has a big advantage for performing continuous works. However, installation of exclusive use of battery-charging-stations requires much cost. To improve this situation, we aim to realize an autonomous battery-charging motion for a mobile manipulator using conventional electrical outlets. In this motion, the robot is navigated to a front of an outlet, and a plug attached at the tip of the manipulator is controlled to insert into the outlet. To realize the motion, we implemented "distance transform method" for navigation, and a motion of plug insertion using force feedback control. In this paper, we explain the above implementations, and we discuss advantages and limitations of such motions.

关键词： battery-charging navigation putting a plug into an outlet

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An autonomous weeding robot for organic farming 5th

An autonomous weeding robot for organic farming

引用

5th International Conference on Field and Service robotics

作者： Bakker, Tijmen van Asselt, Kees Bontsema, Jan Mueller, Joachim van Straten, Gerrit Univ Wageningen & Res Ctr Syst & Control Grp POB 17 NL-6700 AA Wageningen Netherlands Agrotechnol & Food Innovat BV NL-6700 AA Wageningen Netherlands Univ Hohenheim Inst Agr Engn D-70593 Stuttgart Germany

ISBN: (纸本)3540334521

The objective of this research is the replacement of hand weeding in organic farming by a device working autonomously at field level. The autonomous weeding robot was designed using a structured design approach, giving a good overview of the total design. A vehicle was developed with a diesel engine, hydraulic transmission, four-wheel drive and four-wheel steering. The available power and the stability of the vehicle does not limit the freedom of research regarding solutions for intra-row weed detection and weeding actuators. To fulfill the function of navigation along the row a new machine vision algorithm was developed. A test in sugar beet in a greenhouse showed that the algorithm was able to find the crop row with an average error of less than 25 mm. The vehicle is a versatile design for an autonomous weeding robot in a research context. The result of the design has good potential for autonomous weeding in the near future.

关键词： systematic design machine vision GPS robotics intra-row weed control autonomous weeding robot organic farming

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Intentional motion online learning and prediction 5th

Intentional motion online learning and prediction

引用

5th International Conference on Field and Service robotics

作者： Vasquez, Dizan Fraichard, Thierry Aycard, Olivier Laugier, Christian INRIA Rhone Alpes F-38334 Saint Ismier France

ISBN: (纸本)3540334521

Motion prediction for objects which are able to decide their trajectory on the basis of a planning or decision process (e.g. humans and robots) is a challenging problem. Most existing approaches operate in two stages: a) learning, which consists in observing the environment in order to identify and model possible motion patterns or plans and b) prediction, which uses the learned plans in order to predict future motions. In existing techniques, learning is performed off-line, hence, it is impossible to refine the existing knowledge on the basis of the new observations obtained during the prediction phase. This paper proposes a novel learning approach which represents plans as Hidden Markov Models and is able to estimate the parameters and structure of those models in an incremental fashion by using the Growing Neural Gas algorithm. Our experiments demonstrate that the technique works in real-time, is able to operate concurrently with prediction and that the resulting model produces long-term predictions.

关键词： Forecasting

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Synthesized scene recollection for robot teleoperation 5th

Synthesized scene recollection for robot teleoperation

引用

5th International Conference on Field and Service robotics

作者： Shiroma, Naoji Nagai, Hirokazu Sugimoto, Maki Inami, Masahiko Matsuno, Fumitoshi Int Rescue Syst Inst Minami Watarida 1-2 Kawasaki Kanagawa 2100855 Japan Univ Electrocommun Chofu Tokyo 182 Japan

ISBN: (纸本)3540334521

In this paper we propose an innovative robot remote control method, a synthesized scene recollection method, which provides the operator with a bird's-eye view image of the robot in an environment which is generated by using position and orientation information of the robot, stored image history data captured by a camera mounted on the robot, and the model of the robot. This method helps the operator to easily recognize the situation of the robot even in unknown surroundings and enables the remote operation ability of a robot to be improved. This method is mainly based on two technologies, robot positioning and image synthesis. In this paper we use scan matching of laser rangefinder's scan data for robot positioning and realized self-contained implementation of the proposed method in 2D horizontal plane.

关键词： teleoperation positioning image synthesis scene recollection

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Implementation issues and experimental evaluation of D-SLAM 5th

Implementation issues and experimental evaluation of D-SLAM

引用

5th International Conference on Field and Service robotics

作者： Wang, Zhan Huang, Shoudong Dissanayake, Gamini Univ Technol Sydney Fac Engn ARC Ctr Excellence Autonomous Syst Sydney NSW 2007 Australia

ISBN: (纸本)3540334521

D-SLAM algorithm first described in [1] allows SLAM to be decoupled into solving a non-linear static estimation problem for mapping and a three-dimensional estimation problem for localization. This paper presents a new version of the D-SLAM algorithm that uses an absolute map instead of a relative map as presented in [1]. One of the significant advantages of D-SLAM algorithm is its O(N) computational cost where N is the total number of features (landmarks). The theoretical foundations of D-SLAM together with implementation issues including data association, state recovery, and computational complexity are addressed in detail. Evaluation of the D-SLAM algorithm is provided using both real experimental data and simulations.

关键词： decoupled SLAM extended information filter sparse matrix computational complexity

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Development of an autonomous forest machine for path tracking 5th

Development of an autonomous forest machine for path trackin...

引用

5th International Conference on Field and Service robotics

作者： Hellstrom, Thomas Johansson, Thomas Ringdahl, Ola Umea Univ Dept Comp Sci S-90187 Umea Sweden

ISBN: (纸本)3540334521

In many respects traditional automation in the forest-machine industry has reached an upper limit, since the driver already has to deal with an excess of information and take too many decisions at a very high pace. To further automation still, introduction of semi-autonomous and autonomous functions axe expected and considered necessary. This paper describes an ongoing project along these ideas. We describe the development of the hardware and software of an unmanned shuttle that shifts timber from the area of felling to the main roads for further transportation. A new path-tracking algorithm is introduced, and demonstrated as being superior to standard techniques, such as Follow the Carrot and Pure Pursuit. To facilitate the research and development, a comprehensive software architecture for sensor and actuator interfacing is developed. Obstacle avoidance is accomplished by a new kind of radar, developed for and by the automotive industry. Localization is accomplished by combining data from a Real-Time Kinematic Differential GPS/GLONASS and odometry. Tests conducted on a simulator and a small-scale robot show promising results. Tests on the real forest machine are ongoing.

关键词： Automotive industry

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Towards intelligent miniature flying robots 5th

Towards intelligent miniature flying robots

引用

5th International Conference on Field and Service robotics

作者： Bouabdallah, Samir Siegwart, Roland Ecole Polytech Fed Lausanne Autonomous Syst Lab CH-1015 Lausanne Switzerland

ISBN: (纸本)3540334521

This paper presents a practical method for small-scale VTOL3 design. It helps for elements selection and dimensioning. We apply the latter to design a fully autonomous quadrotor with numerous innovations in design methodology, steering and propulsion achieving 100% thrust margin for 30 min autonomy. The robot is capable of rotational and translational motion estimation. Finally, we derive a non-linear dynamics simulation model, perform a simulation with a PD test controller and test successfully the robot in a real flight. We are confident that "OS4" is a significant progress towards intelligent miniature quadrotors.

关键词： VTOL design quadrotor quadrotor modelling

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