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

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Development of a personal service robot with user-friendly interfaces

引用

4th International Conference on Field and Service robotics

作者： Miura, Jun Shirai, Yoshiaki Shimada, Nobutaka Makihara, Yasushi Takizawa, Masao Yano, Yoshio Osaka Univ Dept Comp Controlled Mech Syst 2-2 Yamadaoka Suita Osaka 5650871 Japan

ISBN: (纸本)3540328017

This paper describes a personal service robot developed for assisting a user in his/her daily life. One of the important aspects of such robots is the user-friendliness in communication;especially, the easiness of user's assistance to a robot is important in making the robot perform various kinds of tasks. Our robot has the following three features: (1) interactive object recognition, (2) robust speech recognition, and (3) easy teaching of mobile manipulation. The robot is applied to the task of fetching a can from a distant refrigerator.

关键词： Mobile robots

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An enhanced robotic library system for an off-site shelving facility

引用

4th International Conference on Field and Service robotics

作者： Suthakorn, Jackrit Lee, Sangyoon Zhou, Yu Choudhury, Sayeed Chirikjian, Gregory S. Mahidol Univ Dept Mech Engn Bangkok 10700 Thailand Johns Hopkins Univ Dept Mech Engn Baltimore MD 21218 USA Johns Hopkins Univ Digital Knowledge Ctr Sheridan Lib Baltimore MD 21218 USA

ISBN: (纸本)3540328017

This paper describes our continued work of a unique robotics project, Comprehensive Access to Printed Materials (CAPM), within the context of libraries. As libraries provide a growing array of digital library services and resources, they continue to acquire large quantities of printed material. This combined pressure of providing electronic and print-based resources and services has led to severe space constraints for many libraries, especially academic research libraries. Consequently, many libraries have built or plan to build off-site shelving facilities to accommodate printed materials. An autonomous mobile robotic library system has been developed to retrieve items from bookshelves and carry them to scanning stations located in the off-site shelving facility. This paper reviews the overall design of the robot system and control systems, and reports the new improvement in the accuracy of the robot performance;in particular, the pick-up process.

关键词： Digital libraries

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ROBHAZ-DT2: Passive double-tracked mobile manipulator for explosive ordnance disposal

引用

4th International Conference on Field and Service robotics

作者： Kang, Sungchul Cho, Changhyun Park, Changwoo Lee, Jonghwa Ryu, Dongseok Kim, Munsang Intelligent Robotics Research Center Korea Institute of Science and Technology Korea Republic of Yujin Robotics Ltd. Korea Republic of

ISBN: (纸本)3540328017

In this paper, design and integration of ROBHAZ-DT2 is presented which is a newly developed mobile manipulator system. It is designed to carry out military and civilian missions in various hazardous environments. In developing the integrated ROBHAZ-DT2 system, we have focused on two issues : 1) novel mechanism design for mobility and manipulation and 2) intuitive user interface for teleoperation. In mechanism design, a double tracks connected by a passive joint has been designed to achieve high speed and rugged mobility on uneven terrain. In addition, a six-dof foldable manipulator suitable for the mobile manipulation has been designed. Secondly, a new compact 6-dof haptic device has been developed for teleoperation of the ROBHAZ-DT2. This haptic device is specially designed for simultaneous control both of the mobile base and the manipulator of ROBHAZ-DT2. As a result of integration of RobhAZ-DT2 and the user interface unit including the haptic device, we could successfully demonstrate a typical EOD task requiring abilities of mobility and manipulation in outdoor environment.

关键词： Remote control

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Development of a control system of an omni-directional vehicle with a step climbing ability

引用

4th International Conference on Field and Service robotics

作者： Chugo, Daisuke Kawabata, Kuniaki Kaetsu, Hayato Asama, Hajime Mishima, Taketoshi Saitama Univ Fac Sci & Engn Saitama Japan Saitama Univ Dept Informat & math Sci Saitama University Saitama Japan

ISBN: (纸本)3540328017

We proposed a new holonomic mobile mechanism which is capable of running over the step. This mechanism realizes omni-directional motion on flat floor and passes over non-flat ground in forward or backward direction. The vehicle equips seven omni-directional wheels with cylindrical free rollers and two passive body axis that provide to change the shape of the body on the rough terrain. This paper presents a method to control the wheels for passing over rough terrain with the stable posture. Our vehicle is required to keep synchronization among its wheels for climbing the step without slipping and blocking. Therefore, in this paper, an algorithm of synchronization among all wheels is proposed. The performance of our system is experimented by means of computer simulations and experiments using our prototype vehicle.

关键词： Wheels

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Experimental results in using aerial LADAR data for mobile robot navigation

引用

4th International Conference on Field and Service robotics

作者： Vandapel, Nicolas Donamukkala, Raghavendra Hebert, Martial Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)3540328017

In this paper, we investigate the use of high resolution aerial LADAR (LAser Detection And Ranging) data for autonomous mobile robot navigation in natural environments. The use of prior maps from aerial LADAR survey is considered for enhancing system performance in two areas. First, the prior maps are used for registration with the data from the robot in order to compute accurate localization in the map. Second, the prior maps are used for computing detailed traversability maps that are used for planning over long distances. Our objective is to assess the key issues in using such data and to report on a first batch of experiments in combining high-resolution aerial data and on-board sensing.

关键词： Antennas

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Indoor navigation for mobile robot by using environment-embedded local information management device and optical pointer

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4th International Conference on Field and Service robotics

作者： Suzuki, Tsuyoshi Uehara, Taiki Kawabata, Kuniaki Kurabayashi, Daisuke Paromtchik, Igor E. Asama, Hajime Tokyo Denki Univ Dept Informat & Commun Engn Chiyoda Ku 2-2 Kanda Nishiki Cho Tokyo 1018457 Japan EPSON KOWA Corp Ueda Nagano Japan Inst Phys & Chem Res RIKEN Wako Saitama Japan Tokyo Inst Technol Meguro Ku Tokyo Japan

ISBN: (纸本)3540328017

The paper discusses a new hybrid navigation strategy for mobile robots operating in indoor environment using the Information Assistant (IA) system and the Optical Pointer (OP). For intelligent navigation, the robots need a static and global information describing a topological map such as positional relation from any starting position to any goal position for making a path plan as well as dynamic and local information including local map, obstacles, traffic information for navigation control. We propose a method for managing the information. The robot has only rough path information to the goal, and the IAs, which are small communication devices installed in the environment, manage real environment information, locally. The OP is used for guidance of a robot in the junctions such as crossing, which communicates with mobile robots through IA and indicates their target positions by means of a light projection from a laser pointer onto the ground. The mobile robot allows it and run after the laser light beacon and reaches the destination. The robot can navigate to the goal efficiently by using these systems.

关键词： Mobile robots

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Landing on a moving target using an autonomous helicopter

引用

4th International Conference on Field and Service robotics

作者： Saripalli, Srikanth Sukhatme, Gaurav S. Univ Southern Calif Ctr Robot & Embedded Syst Robot Embedded Syst Lab University Pk Los Angeles CA 90089 USA

ISBN: (纸本)3540328017

We present a vision-based algorithm designed to enable an autonomous helicopter to land on a moving target. The helicopter is required to identify the target, track it, and land on it while the target is in motion. We use Hu's moments of inertia for precise target recognition and a Kalman filter for target tracking. Based on the output of the tracker, a simple trajectory controller is implemented which (within the given constraints) ensures that the helicopter is able to land on the target. We present data collected from manual flights which validate our tracking algorithm.

关键词： Helicopters

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Development of mobile robots for search and rescue operation systems

引用

4th International Conference on Field and Service robotics

作者： Ikeuchi, Akihiro Takamori, Toshi Kobayashi, Shigeru Takashima, Masayuki Takashima, Shiro Yamada, Masatoshi Kobe Univ Dept Comp & Syst Engn Kobe Hyogo Japan Kobe City Coll Tech Dept Mech Engn Kobe Hyogo Japan

ISBN: (纸本)3540328017

This paper proposes a sufferers searching system using the group of robots to find sufferers at debris as quickly as possible in urban disaster. Five kind of new robots (Series UMRS-V) have developed as the searching robots and their hardware and software systems included the feature and mechanism, sensor system, data processing and control system have made clear. The human interface and simulator system have also developed to make the communication between robots and operator easy and to study the searching algorithm etc.

关键词： Robots

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Large-scale robotic 3-D mapping of urban structures 1

引用

9th International Symposium on Experimental robotics (ISER)

作者： Montemerlo, M Thrun, S Stanford Univ Stanford AI Lab Stanford CA 94305 USA

ISBN: (数字)9783540330141

ISBN: (纸本)3540288163

This article presents results for building accurate 3-D maps of urban environments with a mobile robot based on the Segway scooter. The goal of this project is to use robotic systems to rapidly acquire accurate 3-D maps which seamlessly integrate indoor and outdoor structures. Our approach uses an efficient implementation of the global scan alignment algorithm of Lu and Milios in order to integrate GPS, IMU, and laser data into globally consistent maps. The 3-D models acquired by the robot are analyzed for navigability using a multi-resolution evidence grid approach, and visualized using a meshing algorithm adapted from the computer graphics literature. Results are presented for a number of environments which combine indoor and outdoor terrain.

关键词： robotics

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Body information acquisition system of redundant musculo-skeletal humanoid

Body information acquisition system of redundant musculo-ske...

引用

9th International Symposium on Experimental robotics (ISER)

作者： Mizuuchi, I Nakanishi, Y Yoshikai, T Inaba, M Inoue, H Univ Tokyo Dept Mechanoinformat Bunkyo Ku 7-3-1 Hongo Tokyo 1138656 Japan

ISBN: (纸本)3540288163

We propose a design of musculo-skeletal humanoid whose muscles can be easily added, removed, or re-arranged, which can be compared to the ability of growing up of a human's (or an animal's) body. This paper presents a design and development of the reconfigurable complex-body robot, and a method to build a system which can acquire the body information and can be used for realization of motions of human-like nonlinear musculo-skeletal robots. It shows that even reconfigurable complex-body robot's motion can be achieved by a feedback modification method in conjunction with neural network. We did basic validation experiments by giving target postures one by one, measuring the realized postures, and comparing them with the target postures. We also carried out whole-body motion experiments using motion captured sequences using the presented system.

关键词： Robots

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