This paper describes initial results for a laser-based aerial mapping system. Our approach applies a real-time laser scan matching algorithm to 2-D range data acquired by a remotely controlled helicopter. Results obta...
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ISBN:
(纸本)3540328017
This paper describes initial results for a laser-based aerial mapping system. Our approach applies a real-time laser scan matching algorithm to 2-D range data acquired by a remotely controlled helicopter. Results obtain for urban and natural terrain exhibit an unprecendented level of spatial detail in the resulting 3-D maps.
This paper presents various procedures that can be used in order to numerically evaluate what the maximum Z-width that can be rendered by a mobile haptic interface will be given few parameters that characterize the ha...
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ISBN:
(纸本)3540288163
This paper presents various procedures that can be used in order to numerically evaluate what the maximum Z-width that can be rendered by a mobile haptic interface will be given few parameters that characterize the haptic device and the mobile platform that make up such interface. Such procedures are applied to the case of two different mobile haptic interfaces. Results are encouraging, even though limitations to the proposed procedure exist.
Since 1993 we have been working on the automation of dragline excavators, the largest earthmoving machines that exist. Recently we completed a large-scale experimental program where the automation system was used for ...
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ISBN:
(纸本)3540328017
Since 1993 we have been working on the automation of dragline excavators, the largest earthmoving machines that exist. Recently we completed a large-scale experimental program where the automation system was used for production purposes over a two week period and moved over 200,000 tonnes of overburden. This is a landmark achievement in the history of automated excavation. In this paper we briefly describe the robotic system and how it works cooperatively with the machine operator. We then describe our methodology for gauging machine performance, analyze results from the production trial and comment on the effectiveness of the system that we have created.
In this paper we report on the First International Contest for Cleaning Robots, which took place jointly with IROS 2002 in Lausanne, Switzerland. The event had two primary objectives. As an educational event with a si...
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ISBN:
(纸本)3540328017
In this paper we report on the First International Contest for Cleaning Robots, which took place jointly with IROS 2002 in Lausanne, Switzerland. The event had two primary objectives. As an educational event with a significant fun factor it was supposed to attract the brainpower and activate the creativeness of students and young researchers for an application of service robotics, which has a significant economic potential. The cost for commercial cleaning services is estimated at around US$ 50 billion per year only in Europe., A fair contest, of course, required that all contestants had equal race conditions, This in turn required to have a well-define set up, which could be reproduced for every contest team and for any single run. With that, the second major objective of the event, which was to define a benchmark for robotic cleaning, was a natural byproduct of organizing a fair contest.
In 1999 the German Federal Government launched six major strategic collaborative research projects on Human Technology Interaction, which involved 102 research partners and a funding volume of 82 million. The results ...
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ISBN:
(纸本)3540328017
In 1999 the German Federal Government launched six major strategic collaborative research projects on Human Technology Interaction, which involved 102 research partners and a funding volume of 82 million. The results of these projects were expected to allow people to control technical systems multimodally by using natural forms of interaction such as speech, gestures, facial expressions, touch and visualization methods and to apply such systems for the most varied purposes in their private and working environments. The ambitious research goals were achieved with prototypes for real-world applications. Research activities have resulted in 116 patent applications, 56 spin-off products and 13 spin-off companies as well as 860 scientific publications.
A prerequisite to the design of future advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. In particular, target tracking is ...
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ISBN:
(纸本)3540328017
A prerequisite to the design of future advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. In particular, target tracking is still challenging in urban traffic situations, because of the large number of rapidly maneuvering targets. The goal of this paper is to present an original way to perform target position and velocity estimation, based on the occupancy grid framework. The main interest of this method is to avoid the decision problem of classical multitarget tracking algorithms. Obtained occupancy grids are combined with danger estimation to perform an elementary task of obstacle avoidance with an electric car.
In this paper, we introduce a novel approach to multirobot coordination that works by simultaneously distributing task allocation, mission planning, and execution among members of a robot team. By combining traditiona...
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ISBN:
(纸本)3540328017
In this paper, we introduce a novel approach to multirobot coordination that works by simultaneously distributing task allocation, mission planning, and execution among members of a robot team. By combining traditional hierarchical task decomposition techniques with recent developments in market-based multirobot control, we obtain an efficient and robust distributed system capable of solving complex problems. Essentially, we have extended the TraderBots market-based architecture to include a mechanism that distributes tasks among robots at multiple levels of abstractions, represented as task trees. Results are presented for a simulated area reconnaissance scenario.
This paper addresses a method of constructing a control system that realizes desired absolute hand position trajectory while walking. Controlling hand position in the absolute coordinate system with short delay while ...
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ISBN:
(纸本)3540288163
This paper addresses a method of constructing a control system that realizes desired absolute hand position trajectory while walking. Controlling hand position in the absolute coordinate system with short delay while walking is a important function for realizing such motions as visual feedback reaching while walking, walking using handrail, and opening doors while walking. Based on previously developed online walking control system, fast dynamically stable walking trajectory generation system that preserves designed hand trajectory in absolute coordinate system, and sensor feedback balance maintaining system that also preserves given hand position are developed. Then a torso transition planner that generates desired torso movement of every one step from the absolute hand trajectory is implemented. A hand position operation experiment with "3D mouse", a reaching experiment with visual feedback, and a guiding experiment using 6-axis force sensor at wrists are shown to demonstrate the performance of the system.
This paper presents a novel method for incorporating unstructured, natural terrain information into the process of tracking of underwater vehicles. Terrain-aided navigation promises to revolutionise the ability of mar...
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ISBN:
(纸本)3540328017
This paper presents a novel method for incorporating unstructured, natural terrain information into the process of tracking of underwater vehicles. Terrain-aided navigation promises to revolutionise the ability of marine systems to track underwater bodies in deep-water applications. This work represents a crucial step in the development of underwater technologies capable of long-term, reliable deployment. A particle based estimator is used to incorporate observations of altitude into the estimation process using a priori map information. Results of the application of this technique to the tracking of a towed body and a ship operating in Sydney Harbour are shown.
We have been trying to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts. We propose the essential conditions for stable dynamic walking on irregular terrain ...
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ISBN:
(纸本)3540288163
We have been trying to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts. We propose the essential conditions for stable dynamic walking on irregular terrain in general, and we design the mechanical system and the neural system by comparing biological concepts with those essential conditions described in physical terms. PD-controller at joints constructs the virtual spring-damper system as the visco-elasticity model of a muscle. The neural system model consists of a CPG (central pattern generator), reflexes and responses. We report our experimental results of dynamic walking on irregular terrain in outdoor environment using a self-contained quadruped robot in order to verify the effectiveness of the designed neuro-mechanical system.
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