Human care and service demands an innovative robotic solution to make easier the everyday of elderly and disabled people in home and workplace environments. The EU project MATS has been developing a new concept of cli...
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ISBN:
(纸本)3540328017
Human care and service demands an innovative robotic solution to make easier the everyday of elderly and disabled people in home and workplace environments. The EU project MATS has been developing a new concept of climbing robot for this type of service applications. The robot developed by University Carlos III of Madrid is a 5 DOF self-containing manipulator, that includes on-board all the control system. The main advantage of the robot is its light weight, about 11 kg for a 1.3 m reach. The robot is a symmetrical arm able to move between different points (Docking Stations) of the rooms and, if it is necessary, "jump" to (or from) the environment to the wheelchair. In this way the MATS robot should became a home companion and assistance for numerous persons.
This is a technical report on an outdoor navigation for autonomous mobile robot based on DGPS and odometry positioning data. The robot position is estimated by fusion of DGPS and odometry. However, DGPS measurement da...
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ISBN:
(纸本)3540328017
This is a technical report on an outdoor navigation for autonomous mobile robot based on DGPS and odometry positioning data. The robot position is estimated by fusion of DGPS and odometry. However, DGPS measurement data suffer from multi-path or other effects near high building and high trees. Thus, it is necessary to pick up only reliable and accurate DGPS measurement data when the robot position is corrected by data fusion of DGPS and odometry. In this paper, the authors propose a selection method of erroneous DGPS measurement data and a rule of data fusion for robot position correction. Finally, the authors equip a mobile robot with the proposed correction method and the robot autonomously navigates in a campus walkway.
This paper deals with the use of an original dynamic task/posture decoupling control algorithm that allows a robot to achieve motions under the constraint of moving through a fixed point. This work takes place in the ...
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ISBN:
(纸本)3540288163
This paper deals with the use of an original dynamic task/posture decoupling control algorithm that allows a robot to achieve motions under the constraint of moving through a fixed point. This work takes place in the context of minimally invasive surgery where the tool is telemanipulated by the surgeon through the trocar fixed on the patient. The algorithm is based on the dynamic control in the operational space of a redundant robot: the total control torque is decoupled into a task behavior torque and a posture behavior torque. By minimizing the contact force applied to the trocar (or equivalently, by forcing to zero the distance between the instrument passing through the trocar and the current location of the trocar), we compute the posture behavior torque guaranteeing that the trocar constraint is satisfied. Implementation on a real robot has been done. Experimental results highlighting the performance of this algorithm are presented and discussed.
In October 2003, the first functional load-bearing and energetically autonomous exoskeleton, called the Berkeley Lower Extremity Exoskeleton (BLEEX) was demonstrated, walking at the average speed of two miles per hour...
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ISBN:
(纸本)3540288163
In October 2003, the first functional load-bearing and energetically autonomous exoskeleton, called the Berkeley Lower Extremity Exoskeleton (BLEEX) was demonstrated, walking at the average speed of two miles per hour while carrying 75 pounds of load, The project, funded in 2000 by the Defense advanced Research Project Agency (DARPA) tackled four fundamental technologies: the exoskeleton architectural design, a control algorithm, a body LAN 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 the BLEEX project.
We are developing haptic interfaces compatible with functional magnetic resonance imaging (fMRI) to study the brain mechanisms of motor control in humans. This paper describes the different phases of our project, exam...
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ISBN:
(数字)9783540330141
ISBN:
(纸本)3540288163
We are developing haptic interfaces compatible with functional magnetic resonance imaging (fMRI) to study the brain mechanisms of motor control in humans. This paper describes the different phases of our project, examines the constraints and presents possible solutions. The constraints imposed by the harsh yet sensitive MR environment as well as the smooth and safe control required for interaction with human motion demand a novel robotic technology. Our concept is based on a hydrostatic master-slave system used to power the robot near the scanner from outside the shielded MR room. Force/torque and position sensors measure the deflection of an elastic polymer probe via light intensity measurement over fiber optics, thus allowing all electronic components to be placed outside the MR room. This concept was validated through two interfaces able to provide force and motion feedback simultaneously with imaging.
This paper studies the use of wireless Ethernet (Wi-Fi) as a localization sensor for mobile robots. Wi-Fi-based localization relies on the existence of one or more Wi-Fi devices in the environment to act as beacons, a...
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ISBN:
(纸本)3540328017
This paper studies the use of wireless Ethernet (Wi-Fi) as a localization sensor for mobile robots. Wi-Fi-based localization relies on the existence of one or more Wi-Fi devices in the environment to act as beacons, and uses signal strength information from those beacons to localize the robot. Through the experiments described in this paper, we explore the general properties of Wi-Fi in indoor environments, and assess both the accuracy and utility of Wi-Fi-based localization.
This paper presents experimental results of the application of terrain aided localisation and mapping algorithms to vehicle deployments in marine environments. The application of a terrain aided navigation filter to t...
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ISBN:
(数字)9783540330141
ISBN:
(纸本)3540288163
This paper presents experimental results of the application of terrain aided localisation and mapping algorithms to vehicle deployments in marine environments. The application of a terrain aided navigation filter to the tracking of a ship operating on Sydney Harbour is described. This approach allows highly unstructured seafloor bathymetric information to be incorporated into the navigation solution. In addition, experimental validation of the Simultaneous Localisation and Mapping algorithm using data collected by an Unmanned Underwater Vehicle operating on the Great Barrier Reef in Australia is reported. By fusing information from the vehicle's on-board sonar and vision systems, it is possible to use the highly textured reef to provide estimates of the vehicle motion as well as to generate models of the gross structure of the underlying reefs. Terrain-aided navigation promises to revolutionise the ability of marine systems to track underwater bodies in many applications. This work represents a crucial step in the development of underwater technologies capable of long-term, reliable deployment.
This paper presents experimentation using the PolyBot modular robot of two limbless gaits which conform to environment, A conforming loop gait is low profile and traverses over a variety of obstacles where the ratio o...
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ISBN:
(纸本)3540288163
This paper presents experimentation using the PolyBot modular robot of two limbless gaits which conform to environment, A conforming loop gait is low profile and traverses over a variety of obstacles where the ratio of the height of the obstacle to robot is up to 1.3. A concertina snake gait is capable of negotiating narrow passages (for example a width of double the width of the robot itself), including those with bends as sharp as 110 degrees. It is well suited to locomotion in unstructured tunnels. One little appreciated point that is emphasized in this paper is that the difficulty of an environment is always relative to size of the robot itself.
In this paper, the use of medial axis in mobile robot localization is extended. We describe the extraction of robust medial axis from a local occupancy grid to form a global map of the environment. We do not require a...
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ISBN:
(纸本)3540328017
In this paper, the use of medial axis in mobile robot localization is extended. We describe the extraction of robust medial axis from a local occupancy grid to form a global map of the environment. We do not require any special geometric primitives to be present, and we allow substantial changes in the appearance of the environment, as long as the overall structure stays intact. We then describe how to use such a map with Monte Carlo Localization. Two approaches are treated. The first one relies on extracting salient features (tripods) from the local grid. The second one makes use of salient points in the global map and works well, even if no useful medial axis can be extracted during localization due to many new objects in formerly free space. This work aims to develop an efficient navigation system that requires less assumptions about the environment and its dynamics than current systems do.
There is a strong demand for efficient lifesaving techniques and devices in preparation for large-scale earthquakes. We focus on searching survivors and develop the rescue robot "Pneumatic-Drive Expandable Arm.&q...
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ISBN:
(纸本)3540328017
There is a strong demand for efficient lifesaving techniques and devices in preparation for large-scale earthquakes. We focus on searching survivors and develop the rescue robot "Pneumatic-Drive Expandable Arm." That is an elastic arm type robot driven by pneumatic pressure and has a camera on the head. That can travel stably in the rubble-strewn environment where electric power or wireless communication is not available.
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