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Real-time 3D SLAM for humanoid robot considering pattern generator information

Real-time 3D SLAM for humanoid robot considering pattern gen...

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IEEE/RSJ International conference on Intelligent robots and systems

作者： Stasse, Olivier Davison, Andrew J. Sellaouti, Ramzi Yokoi, Kazuhito Natl Inst Adv Ind & Sci Technol JRL CNRS ISRI AIST Cent 2Umezono 1-1-1 Tsukuba Ibaraki 3028568 Japan Univ London Imperial Coll Sci Technol & Med Dept Comp London SW7 2AZ England

ISBN: (纸本)9781424402588

Humanoid robotics and SLAM (Simultaneous Localisation and Mapping) are certainly two of the most significant themes of the current worldwide robotics research effort, but the two fields have up until now largely run independent parallel paths, despite the obvious benefit to be gained in joining the two. The next major step forward in humanoid robotics will be increased autonomy, and the ability of a robot to create its own world map on the fly will be a significant enabling technology. Meanwhile, SLAM techniques have found most success with robot platforms and sensor configurations which are outside of the humanoid domain. Humanoid robots move with high linear and angular accelerations in full 3D, and normally only vision is available as an outward-looking sensor. Building on recently published work on monocular SLAM using vision, and on pattern generation, we show that real-time SLAM for a humanoid can indeed be achieved. Using HRP-2, we present results in which a sparse 3D map of visual landmarks is acquired on the fly using a single camera and demonstrated loop closing and drift-free 3D motion estimation within a typical cluttered indoor environment. This is achieved by tightly coupling the pattern generator, the robot odometry and inertial sensing to aid visual mapping within a standard EKF framework. To our knowledge this is the first implementation of real-time 3D SLAM for a humanoid robot able to demonstrate loop closing.

关键词： Mobile robots

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Development of a highly integrated torque sensor concept for drive units of a humanoid robot

Development of a highly integrated torque sensor concept for...

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Joint 41st International Symposium on Robotics, ISR 2010 and 6th German conference on Robotics 2010, ROBOTIK 2010

作者： Albers, Albert Frietsch, Markus Sander, Christian Ottnad, Jens IPEK - Institut für Produktentwicklung Kaiserstrabe 10 76131 Karlsruhe Germany

ISBN: (纸本)9781617387197

Humanoid robots are a prime example for complex mechatronic systems. During the development process of such systems big challenges arise from interaction between different involved domains. In this article the development of the torque sensor concept for the next generation of the humanoid robot ARMAR [1] -The demonstrator system of the collaborative research centre 588 "learning and cooperating multimodal robots" - is presented. The objectives of the development of humanoid and industrial robots strongly differ from each other. Amongst others this is due to the fact that humanoid robots are designed for safe cooperation with humans in their natural environment e.g. in the kitchen, while industrial robots still work more or less separated from their "human colleagues". Aspects like humanlike appearance and motion space are very important to provide a wide acceptance of these machines. Especially elderly people, who could benefit a lot from a robot's help, are not used to cooperate with such systems and sometimes they are even afraid. As a consequence of close cooperation between robots and humans strong safety requirements have to be considered. For example the applied forces of every joint have to be measured and controlled to prevent injuries of the human. In order to implement an efficient development and manufacturing process of the system a highly modular concept for all drive units - consisting of motor, gear box and sensor - is necessary. The similar units can then be used in different joints like the elbow or shoulder joint. To realize a humanlike appearance, which is a big challenge regarding the power density of a human, such a modular drive unit has to be extremely compact to fit into a humanlike design space. Therefore the dimensions of the torque sensor also have to be minimized. Commercial sensor systems provide excellent accuracy and sensitivity but the possibility for the integration of these sensors is strongly limited caused by their geometrical di

关键词： Anthropomorphic robots

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Polar polynomial curve for smooth, collision-free path generation between two arbitrary configurations for nonholonomic robots

Polar polynomial curve for smooth, collision-free path gener...

引用

2007 IEEE 22nd International Symposium on Intelligent Control, ISIC 2007

作者： Lai, Xue Cheng Mamun, Abdullah Al Ge, Shuzhi Sam Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)142440441X

This paper studies a geometric-based method for smooth path generation for nonholonomic mobile robots, which are subject to dynamic and curvature constraints. It first studies polar polynomial curve and its properties for it to be used in curvature-smooth transition. In the design of such a path, it is examinable whether the robot constraints and curvature requirement are satisfied. Then, connection using such a curve is extended to the case that the robot is performing rotation at its start position. next, a computationally efficient way is proposed for collision test of the curve in order to achieve real-time path planning. Finally, extensive simulation experiments are carried out to verify the proposed method. © 2007 IEEE.

关键词： Curve fitting

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Maintenance assistant system of motoman

Maintenance assistant system of motoman

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1988 IEEE International Workshop on Intelligent robots and systems: Toward the next generation Robot and System, IROS 1988

作者： Matsuo, Mitsuaki Kanehara, Takeyoshi Tanaka, Masato Matsumoto, Kazuotil Yaskova F.lectric Mfg. Co. Ltd. 2346 Fujita. Yahata-nishl Kltakyushu Japan

The purpose of industrial robots Is to play a role as flexible manufacturing equipment for production at the shop floor and contribute productivity and product quality improvement In the manufacturing plant. The functions directly related to production have, been researched to satisfy various needs step by step. Recently it has been greatly required to reduce production line downtime, should trouble take place. We are applying expert system technology to troubleshooting and maintenance of our industrial robot Motoman. "Maintenance Assistant System of Motonan" consists of troubleshooting and electronic nanual sections. The troubleshooting section comprises production rules to infer defective parts. While the electronic manual section accepts user input in the form of a database search key and outputs textual or graphical information associated with that key. This system has been developed with 3 personal computer, using Texas Instruments' Personal Consultant Plus artificial intelligence software. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Industrial robots

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Autonomously generating operations sequences for a mars rover using AI-based planning

Autonomously generating operations sequences for a mars rove...

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IEEE conference on Intelligent robots and systems (IROS 2001)

作者： Sherwood, R Mishkin, A Estlin, T Chien, S Backes, P Norris, J Cooper, B Maxwell, S Rabideau, G CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)0780366123

This paper discusses a proof-of-concept prototype for ground-based automatic generation of validated rover command sequences from high-level science and engineering activities. This prototype is based on ASPEN, the Automated Scheduling and Planning Environment This Artificial Intelligence (AI) based planning and scheduling system will automatically generate a command sequence that will execute within resource constraints and satisfy flight rules. An automated planning and scheduling system encodes rover design knowledge and uses search and reasoning techniques to automatically generate low-level command sequences while respecting rover operability constraints, science and engineering preferences, environmental predictions, and also adhering to hard temporal constraints. This prototype planning system has been field-tested using the Rocky-7 rover at JPL, and will be field-tested on more complex rovers to prove its effectiveness before transferring the technology to flight operations for an upcoming NASA mission. Enabling goal-driven commanding of planetary rovers greatly reduces the requirements for highly skilled rover engineering personnel. This in turn greatly reduces mission operations costs. In addition, goal-driven commanding permits a faster response to changes in rover state (e.g., faults) or science discoveries by removing the time consuming manual sequence validation process, allowing rapid "what-if' analyses, and thus reducing overall cycle times.

关键词： Mobile robots

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A flexible robots programming environment with simulation capabilities

A flexible robots programming environment with simulation ca...

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1988 IEEE International Workshop on Intelligent robots and systems: Toward the next generation Robot and System, IROS 1988

作者： Interesse, M. Distente, A. Istituto Elaborazioni Segnali Ed Immagini-C.N.R. C/o Dip di Fisica-via Amendola173 Bari Italy

Industrial automation, spreading over the most of manufacturing fields, is raising the requirement of ever-increasing flexibility in the design of production systems. In addition, the complexity enhancement of tasks to be automatically performed inside a manufacturing cell encourages the development of practicable tools, to easy their programming and their performance analysis. In this paper we present a robots programming environment which allows the user an off-line specification, at object-level, of assembling shop applications and to describe the work-cell layout. The run-time system provides the operator with powerful means to analyze and to check the program against the virtual cell and to graphically simulate the task, before activating real cell actors. The packages collection constituting the whole software system are distributed on several computers. The host computer is embodied by a VAXSTATI0N-3200, which runs the system main part and stores its knowledge base. It communicates, through a multiplexer, with cell actors' specific controllers, implemented on different computers (PC and LSI-11 in our experimental setup). © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Robot programming

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A role for immunology in "next generation" robot controllers

引用

2nd International conference on Artificial Immune Sysyems

作者： Hart, E Ross, P Webb, A Lawson, A Napier Univ Edinburgh EH14 1DJ Midlothian Scotland

ISBN: (纸本)3540407669

Much of current robot research is about learning tasks in which the task to be achieved is pre-specified, a suitable technology for the task is chosen and the learning process is then experimentally investigated. A more interesting research question is how can robot be provided with an architecture that would enable it to developmentally 'grow-up' and accomplish complex tasks by building on basic built-in capabilities. Previous work by the authors defined the requirements of a robot architecture that would enable this to happen - in this paper, we describe how some components of such an architecture can be achieved using an immune network model, and present preliminary results that show the plausibility of the suggested approach.

关键词： robots

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Optimization Design and Exploration of Locomotion Posture for Serpentine Pipeline robots 3

Optimization Design and Exploration of Locomotion Posture fo...

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3rd International conference on Intelligent Computing and next generation Networks, ICNGN 2024

作者： Li, Zhichao Zhang, Chunguang Liu, Jiarui Li, Shangqing Chu, Shuai Gong, Yingjiao Geng, Wei R&D center SINOMACH Sensing Technology Co. Ltd. National Engineering Research Center Of Transducer Shenyang China SINOMACH Sensing Technology Co. Ltd. National Engineering Research Center Of Transducer Shenyang China

ISBN: (纸本)9798331529222

During the inspection process of seamless steel tubes, the circumferential dynamic deviation of the multi-hub serpentine robot complicates the accurate estimation and control of its axial operating state. To address this challenge, this paper introduces an innovative control method integrating an improved discrete PID with IMU feedback, and thoroughly examines its fundamental principles, modeling strategies, and simulation analyses. This system boasts low overshoot, high steady-state accuracy, and swift response, all while minimizing the occupation of system resources, which is advantageous for realizing time-sharing control by the superordinate system. Additionally, the system is capable of dynamically adjusting the hub motors with minimal control cycles, effectively preventing motor vibrations and severe overheating issues. ©2024 IEEE.

关键词： Three term control systems

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Internet of Robotic Things: Current Technologies and Applications 22

Internet of Robotic Things: Current Technologies and Applica...

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22nd International Arab conference on Information Technology (ACIT)

作者： Samara, Ghassan Hussein, Abla Matarneh, Israa Abdullah Alrefai, Mohammed Al-Safarini, Maram Y. Zarqa Univ Comp Sci Dept Zarqa Jordan Zarqa Univ Software Engn Dept Zarqa Jordan

ISBN: (纸本)9781665419956

The Internet of Robotic Things (IoRT) is a new domain that aims to link the IoT environment with robotic systems and technologies. IoRT connects robotic systems, connects them to the cloud, and transfers critical information as well as knowledge exchange to conduct complicated and intricate activities that a human cannot readily perform. The pertinent notion of IoRT has been discussed in this paper, along with the issues that this area faces on a daily basis. Furthermore, technological applications have been examined in order to provide a better understanding of IoRT and its current development phenomenon. The study describes three layers of IoRT infrastructure: network and control, physical, and service and application layer. In the next section, IoRT problems have been presented, with a focus on data processing and the security and safety of IoRT technological systems. In addition to discussing the difficulties, appropriate solutions have been offered and recommended. IoRT is regarded as an essential technology with the ability to bring about a plethora of benefits in smart society upon adoption, contributing to the generation and development of smart cities and industries in the near future.

关键词： Internet of Robotic Things IoRT Data Processing Security and Safety IoT Cloud robots

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Map Representation and path planning for mobile robots in a building environment

Map Representation and path planning for mobile robots in a ...

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1988 IEEE International Workshop on Intelligent robots and systems: Toward the next generation Robot and System, IROS 1988

作者： Habib, Maki K. Yuta, Shin'Ichi InteIligent Robot Lab. University of Tsukuba Inst. of Information Science and Electronics TennoudaiTsukuba Ibaraki305 Japan

A method of world map representation, which represents the significant features of an actual world consists of network of buildings environment connected through common bridges, and an efficient automated path finding strategy for mobile robots to work within the described environment where the robot moves, are presented in this paper. The proposed path planning strategy is divided hierarchally the environment of buildings network into building and corridor levels and also introduces in-building and in-corridor planning. The objective of this research is to develop a method for path planning and then for route map generation to abstract the geometric Information of the planned path for real time execution, by using simple and computationally efficient algorithm to solve find path from a node expressing the start point to a node expressing the goal point interms of graph nodes. This algorithm involves searching for optimal path. The in-building planning is based on the principles of graph searching using the bridges as nodes of connection between the buildings, also the in-corridor planning is based on the same principles using the junctions that represent the intersection points between the corridors as nodes of connection. This allow for optimal paths made up of straight lines to be found efficiently within a real environment. The proposed world map representation method and the path finding strategy have been demonstrated for real application in a real world. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Motion planning

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