We describe a novel system for robotic measurement of contact sounds. This system is well suited for acquiring impulse-response sound models. A brief explanation of the sound models is included. We also describe exper...
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We describe a novel system for robotic measurement of contact sounds. This system is well suited for acquiring impulse-response sound models. A brief explanation of the sound models is included. We also describe experimental results to illustrate the process of acquiring sound models using our system, and a brief analysis of the results. The initial results are promising and could lead to applications in reality-based modeling and object recognition.
The paper presents a new approach to the management of perception in a multi-sensor robotic system. The approach is based around an Adaptive Sensory Perception Controller which has two significant characteristics: (1)...
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The paper presents a new approach to the management of perception in a multi-sensor robotic system. The approach is based around an Adaptive Sensory Perception Controller which has two significant characteristics: (1) it performs real-time selection of process monitors based on the minimisation of the expected cost of perception with constraints on the uncertainty of perception, and (2) it performs on-line adaptation of the perception models on which the monitor selection is based. The approach is shown to be useful and effective in experiments involving a range of sensing modalities which may typically be encountered in robotic applications.
Obstacle traversal aims at selecting a feasible path through an obstacle field. It is different from obstacle avoidance in that the path selected might climb over some obstacles if this is 'cheaper' than going...
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Obstacle traversal aims at selecting a feasible path through an obstacle field. It is different from obstacle avoidance in that the path selected might climb over some obstacles if this is 'cheaper' than going around. Climbing over obstacles allows to generate shorter paths in the case of large concave obstacles. A planner is presented that produces traversable paths, taking into account terrain topography, robot parameters, and robot/ground interaction. This planner is applicable to outdoor applications, such as Mars exploration, where absolute avoidance of obstacles is not necessary. Examples for Mars rover are presented.
Haptic feedback is a design element for human-computer interfaces, and this paper discusses when and how it can be used to best effect in interactive applications. It begins with consideration of the unique attributes...
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Haptic feedback is a design element for human-computer interfaces, and this paper discusses when and how it can be used to best effect in interactive applications. It begins with consideration of the unique attributes of the touch sense in physiological and psychological terms, and the nature of information and control that touching provides. It reviews where active touching helps, by setting forth the forms it may take and important parameters that describe it and evaluates the specific benefits it offers to contemporary interface problems. It ends with a proposal for a simple interaction model that emphasizes holistic design principles, and highlights issues that arise in the process of creating specific haptic interfaces.
MicroElectroMechanical Systems (MEMS) have caught the imagination of the robot community as well as the general public. The excitement and promise of small, fast, capable micromechanical technology for robotics lies i...
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MicroElectroMechanical Systems (MEMS) have caught the imagination of the robot community as well as the general public. The excitement and promise of small, fast, capable micromechanical technology for robotics lies in being able to make extremely small machines that may be used for a variety of purposes ranging from small systems for space exploration to the wilder shores of tiny, implantable medical devices. The promise of MEMS is most evidently realized in the development of a wide variety of sensors that may be used to enhance the functionality of existing, more conventional robots, but MEMS capabilities in actuators are on the horizon, leading to the possibility of new robotics devices and systems. The paper discusses MEMS devices, the processes of making them, and some of their robotic applications, and ends with some open problems and challenges. The paper forms a lead-in to the detailed papers in the session that follows.
This study investigates the processing of sonar signals using neural networks for robust differentiation of commonly encountered features in indoor environments. The neural network can differentiate more targets, and ...
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This study investigates the processing of sonar signals using neural networks for robust differentiation of commonly encountered features in indoor environments. The neural network can differentiate more targets, and achieves high differentiation and localization accuracy, improving on previously reported methods. It achieves this by exploiting the identifying features in the differential amplitude and time-of-flight characteristics of these targets. An important observation follows from the robustness tests, which indicate that the amplitude information is more crucial than time-of-flight for reliable operation. The study suggests wider use of neural networks and amplitude information in sonar-based mobile robotics.
This paper tells the story of spatial operators in robot dynamics, emphasizing their physical interpretation, while avoiding lengthy mathematical derivations. The spatial operators are rooted in the function space app...
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This paper tells the story of spatial operators in robot dynamics, emphasizing their physical interpretation, while avoiding lengthy mathematical derivations. The spatial operators are rooted in the function space approach to estimation theory developed in the decades that followed the introduction of the Kalman filter. In the mid 1980's, the authors, who were familiar with the function space approach, recognized the analogy between Kalman filtering and robot dynamics, and began to use this approach on a wide range of multi-body systems of increasing complexity. This paper reviews the spatial operator approach to robot dynamics, and outlines current applications to the modeling, simulation and control of space robot dynamics and large molecular structures.
The use of sensors in industrial welding productions shall be undoubtedly advantageous to enhance the quality, flexibility and efficiency of robots. However sensors are only integrated in a small number of application...
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The use of sensors in industrial welding productions shall be undoubtedly advantageous to enhance the quality, flexibility and efficiency of robots. However sensors are only integrated in a small number of applications. An essential reason is the difficulty to generate robot programs for sensor operations. In this paper a new method for offline programming of sensor operations is described. The developed module has been integrated in a PC-based offline programming system (called PIN). Its user-friendly design enables fast and easy programming of sensor operations assisted by icon-oriented user interface and task-sorted macro library. In spite of running on a PC (low-cost system), a high performance is offered by the presented system which was developed for the use of non-programming specialists.
This paper, which serves as an introduction to the mini-symposium on Real-Time Vision, Tracking and Control, provides a broad sketch of visual servoing, the application of real-time vision, tracking and control for ro...
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This paper, which serves as an introduction to the mini-symposium on Real-Time Vision, Tracking and Control, provides a broad sketch of visual servoing, the application of real-time vision, tracking and control for robot guidance. It outlines the basic theoretical approaches to the problem, describes a typical architecture, and discusses major milestones, applications and the significant vision sub-problems that must be solved.
This paper presents a method for the modeling of mechanical systems with lumped elasticity. The main applications of the method concern high speed machine tools and robots with elastic joints. The method can provide t...
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This paper presents a method for the modeling of mechanical systems with lumped elasticity. The main applications of the method concern high speed machine tools and robots with elastic joints. The method can provide the kinematic and dynamic models of such systems. To achieve this goal we adapted some well known tools and notations which are widely used for rigid robots. The inverse dynamic model has to be redefined and developed.
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