A device that could locomote through curving and tortuous spaces would find many applications in medicine and in industry. Invertebrates such as earthworms and leeches can solve this problem using peristaltic locomoti...
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A device that could locomote through curving and tortuous spaces would find many applications in medicine and in industry. Invertebrates such as earthworms and leeches can solve this problem using peristaltic locomotion. We describe a device consisting of three braided pneumatic actuators in series that can successfully locomote peristaltically. The device can locomote forwards and backwards in elevated and curving tubes, and with a plastic sheath around it.
The proceedings contains 92 papers from the 7th internationalconference on Control, automation, robotics and Vision, ICARCV 2002. The topics discussed include: a robust mmWave radar sensor for underground application...
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ISBN:
(纸本)9810483643
The proceedings contains 92 papers from the 7th internationalconference on Control, automation, robotics and Vision, ICARCV 2002. The topics discussed include: a robust mmWave radar sensor for underground applications;environmental representation for fused millimeter wave radar and nightvision data;terrain imaging millimeter wave radar;signal-adapted wavelets for doppler radar system;content-based image retrieval in surface inspection;quantum dot neural network neurons and a fuzzy blur algorithm to adaptive blind image deconvolution.
Both simultaneous localization and mapping (SLAM) and detection and tracking of moving objects (DTMO) play key roles in robotics and automation. For certain constrained environments, SLAM and DTMO are becoming solved ...
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Both simultaneous localization and mapping (SLAM) and detection and tracking of moving objects (DTMO) play key roles in robotics and automation. For certain constrained environments, SLAM and DTMO are becoming solved problems. But for robots working outdoors, and at high speeds, SLAM and DTMO are still incomplete. In earlier works, SLAM and DTMO are treated as two separate problems. In fact, they can be complementary to one another. In this paper, we present a new method to integrate SLAM and DTMO to solve both problems simultaneously for both indoor and outdoor applications. The results of experiments carried out with CMU Navlab8 and Navlab11 vehicles with the maximum speed of 45 mph in crowded urban and suburban areas verify the described work.
We describe techniques for automatically acquiring observations of a deforming object and for estimating a model of the deformation from these observations. A robotic system was developed for measuring deformation, an...
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We describe techniques for automatically acquiring observations of a deforming object and for estimating a model of the deformation from these observations. A robotic system was developed for measuring deformation, and has been previously reported [1, 2]. The present paper describes new techniques for the estimation of deformable models based on discrete Green's functions, from measurements acquired using stereo vision and a robot arm's position and force sensors. This kind of robotic measurement presents new challenges for measurement and estimation, that we address here. Our techniques for robotic acquisition of deformable object models have potential applications in robotics, haptic interfaces, simulation, computer graphics and virtual reality.
This Volume 1 of 4 of the conference proceedings contains 168 papers. Topics discussed include humanoid robots, flying robots, Petri nets, modular robots, calibration, robot programming, deadlocks in resource allocati...
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This Volume 1 of 4 of the conference proceedings contains 168 papers. Topics discussed include humanoid robots, flying robots, Petri nets, modular robots, calibration, robot programming, deadlocks in resource allocation, uncalibrated vision, virtual reality, motion planning, cooperating robots, mobile robot sensing, binary actuation, mobile manipulation, underwater localization, industrial automation, fault tolerance, parallel robots, graphics and simulation, force-guided assembly, uncalibrated visual servo control, novel applications of haptics, motion planning, impedance control, mobile robot control, omnidirectional robots, underwater robots, manufacturing information infrastructure, fixturing, omnidirectional vision, haptic simulation, cooperating manipulators, autonomous agents and mobile mechanism design.
The proceedings contains 291 papers from the 7th internationalconference on control, automation, robotics and vision, ICARCV 2002. The topics discussed include: A robust mmwave radar sensor for underground applicatio...
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ISBN:
(纸本)9810474806
The proceedings contains 291 papers from the 7th internationalconference on control, automation, robotics and vision, ICARCV 2002. The topics discussed include: A robust mmwave radar sensor for underground applications;signal-adapted wavelets for Doppler radar system;neural network based visual control;development of pneumatic cellular robots forming a mechanical structure;a linear compositional model for analyzing and classifying image textures;vibration analysis and optimal control in self-servo track writer and cooperative strategies in robotic soccer.
This paper presents experimental demonstration and verification of a vision-based stratified motion planning method for the case where the base manifold upon which the motion planning occurs is not smooth. Robotic app...
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ISBN:
(纸本)9810483643
This paper presents experimental demonstration and verification of a vision-based stratified motion planning method for the case where the base manifold upon which the motion planning occurs is not smooth. Robotic applications of the method include motion planning for legged robotics over non-smooth (but known) terrain and manipulation of non-smooth objects with multiple robotic manipulators. Experimental results with multiple robots manipulating a common non-smooth object is presented.
Binary robotic devices with large numbers of degrees of freedom have been proposed by a number of researchers. However, experimental implementation of these concepts have been built with conventional components. These...
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Binary robotic devices with large numbers of degrees of freedom have been proposed by a number of researchers. However, experimental implementation of these concepts have been built with conventional components. These physical systems are heavy, complex, and far from being practical devices. In this paper, a lightweight, compliant mechanism driven by optimized magnet-coil actuators is proposed and developed as an element for modular hyper-redundant robotic systems. Such elements could be used in a number of applications and would replace conventional, complex, and heavy components. The device has a parallel kinematics structure. Its binary actuation simplifies its control architecture. Analytical and experimental results for a practical prototype system are presented.
This paper concerns the robust tracking of some features extracted from a sequence of images taken with an uncalibrated camera mounted on a mobile robot. Unlike most vision systems, the 3D structure of the observed ob...
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This paper concerns the robust tracking of some features extracted from a sequence of images taken with an uncalibrated camera mounted on a mobile robot. Unlike most vision systems, the 3D structure of the observed objects is completely unknown. Thus, position-based visual servoing cannot be used. Similarly, one must be careful when using image-based visual servoing since the depths of the features are unknown. On the other hand, 2 1/2 D visual servoing can easily deal with unknown environments since it is only based on projective reconstruction. In order to obtain a good projective reconstruction for a safe vision-based control, we propose in this paper a multi-scale real-time approach to extract robust features. Experiments show that our algorithm can be used in roboticsapplications when images are noisy and uncontrolled perturbations can break the continuity of the robot motion.
This paper presents an overview of the work being conducted by the Australian Centre for Field robotics (ACFR) and the CRC for Mining Technology and Equipment (CMTE) into sensors and systems for real-time environment ...
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ISBN:
(纸本)9810474806
This paper presents an overview of the work being conducted by the Australian Centre for Field robotics (ACFR) and the CRC for Mining Technology and Equipment (CMTE) into sensors and systems for real-time environment imaging. Radar is perhaps the only sensor capable of performing imaging tasks in environments where high levels of dust, water vapour, and rain must be contended with. Methods of visualising the radar data for various applications are presented.
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