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A step toward autonomous pole climbing robots

11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008

作者： Tavakoli, Mahmoud Marjovi, Ali Marques, Lino De Almeida, Aníbal T. Institute for Systems Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9812835768

3D CLIMBER is a pole climbing robot which was developed at isr-UC. It can climb from 3D structures with bents and branches and scan whole area of the structure. Upon the completion of the mechanical structure some tests were conducted for proof of concept. During this test the errors which might happen were revealed and then a sensorial architecture were designed in order to measure the errors and a control architecture was proposed in order to compensate them. This paper discusses the source of errors and the approach for compensation of the errors and also the Mechatronics and the control architecture of the 3D CLIMBER. Copyright © 2008 by World Scientific Publishing Co. Pte. Ltd.

关键词： Errors

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A comparison study on pneumatic muscles and electrical motors using the 3DCLIMBER as a case study

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11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008

作者： Tavakoli, Mahmoud Marques, Lino De Almeida, Anibal T. Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9812835768

3DCLIMBER is a pole climbing robot designed at isr-UC which is able to climb from poles with bents and branches. The first prototype of the robot uses electrical motors as actuators. A research started to study possibility of using other types of actuators to reduce the weight of the robot and thus increase the efficiency. This paper presents a comparison study between the pneumatic muscles and electrical motors. The 3DCLIMBER robot was used as a case study for this comparison.

关键词： Muscle

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Robot navigation using a sparse distributed memory

Robot navigation using a sparse distributed memory

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mateus Mendes Manuel Crisostomo A. Paulo Coimbra Department of Electrical and Computer Engineering ESTGOH IPC Coimbra Institute of sustems and robotics University of Coimbra Portugal ISR-Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal Department of Electrical and Computer Engineering ISR-Institute of Systems and Robotics University of Coimbra Portugal

Despite all the progress that has been made in robotics and Artificial Intelligence, traditional approaches seem unsuitable to build truly intelligent robots, exhibiting human-like behaviours. Many authors agree that the source of intelligence is, to a great extent, the use of a huge memory, where sequences of events that guide our later behaviour are stored. Inspired by that idea, our approach is to navigate a robot using sequences of images stored in a Sparse Distributed Memory-a kind of associative memory based on the properties of high dimensional binary spaces, which, in theory, exhibits some human-like behaviours. The robot showed good ability to correctly follow most of the sequences learnt, with small errors and good immunity to the kidnapped robot problem.

关键词： Navigation Intelligent robots Humanoid robots Artificial intelligence robotics and automation Orbital robotics Humans Image retrieval Brain modeling Predictive models

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Probabilistic roadmap method and real time gait changing technique implementation for travel time optimization on a designed six-legged robot

Probabilistic roadmap method and real time gait changing tec...

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39th International Symposium on robotics, isr 2008

作者： Ahmad, Aamir Dhang, Nirjhar Institute for Systems and Robotics Department of Electrical and Computer Engineering Instituo Superior Técnico Lisbon Portugal Indian Institute of Technology Kharagpur India

This paper presents design and development of a six legged robot with a total of 12 degrees of freedom, two in each limb and then an implementation of 'obstacle and undulated terrain-based' probabilistic roadmap method for motion planning of this hexaped which is able to negotiate large undulations as obstacles. The novelty in this implementation is that, it doesnt require the complete view of the robot's configuration space at any given time during the traversal. It generates a map of the area that is in visibility range and finds the best suitable point in that field of view to make it as the next node of the algorithm. A particular category of undulations which are small enough are automatically 'runover' as a part of the terrain and not considered as obstacles. The traversal between the nodes is optimized by taking the shortest path and the most optimum gait at that instance which the hexaped can assume. This is again a novel approach to have a real time gait changing technique to optimize the travel time. The hexaped limb can swing in the robot's X-Y plane and the lower link of the limb can move in robot's Z plane by an implementation of a four-bar mechanism. A GUI based server 'Yellow Ladybird' eventually which is the name of the hexaped, is made for real time monitoring and communicating to it the final destination co-ordinates.

关键词： Motion planning

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Estimation of vehicle velocity and traffic intensity using rectified images

Estimation of vehicle velocity and traffic intensity using r...

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IEEE International Conference on Image Processing

作者： Cristina Maduro Katherine Batista Paulo Peixoto Jorge Batista ISR-Institute of Systems and Robotics Department of Electrical Engineering FCT-Universidade de Coimbra Coimbra Portugal

This paper presents an automatic method to estimate vehicle velocity and determine the number of vehicles per lane using rectified images. This approach requires the knowledge of two lengths on the ground plane and can be applied to highway scenarios that possess fairly straight lanes in areas near the camera. A scale factor is determined, in order to ascertain vehicle velocity in the sought units. This scale factor associates distances traveled on the image plane with distances on the ground plane and can be obtained by identifying the period and location of the striped highway lanes on the rectified background image. Once the previously referred lines are located it is then possible to locate the highway lane boundaries and, therefore, determine the mean vehicle velocity of each lane.

关键词： Cameras Surveillance Automated highways Image restoration robotics and automation Road transportation Road vehicles Video sequences computer vision Image segmentation

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On Integration of Features and Classifiers for Robust Vehicle Detection

On Integration of Features and Classifiers for Robust Vehicl...

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International Conference on Intelligent Transportation

作者： Luciano Oliveira Urbano Nunes Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

Some researches have demonstrated that a single recognition system is not usually able to deal with the diversity of environment situations in images. In this paper, with the aim of finding a robust method to compensate single classifier inability under certain circumstances, an extensive study on how to combine features and classifiers is performed. Two ways of integrating features and classifiers are proposed: concatenated vector and ensemble architecture. These two methods are composed by Histogram of Oriented Gradients and Local Receptive Fields as feature extractors, and a Multi Layer Perceptron and Support Vector Machines as classifiers. A thorough analysis with respect to the robustness of the proposed methods over artificial illumination changing has been experimentally carried out at a front and rear vehicle recognition task. Results have demonstrated that the ensemble architecture with a heuristic Majority Voting presented the best performance (other four classification fusion methods based on majority voting and fuzzy integral were also evaluated). The ensemble classifier obtained an average hit rate of 92.4% and less than 1% of false alarm rate under multiple datasets and environment conditions.

关键词： Robustness Vehicle detection Voting Image recognition Concatenated codes Histograms Feature extraction Support vector machines Support vector machine classification Lighting

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T-SLAM: Registering topological and geometric maps for robot localization in large environments

T-SLAM: Registering topological and geometric maps for robot...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： F. Ferreira I. Amorim R. Rocha J. Dias Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

This article reports on a map building method that integrates topological and geometric maps created independently using multiple sensors. The procedure is termed T-SLAM to emphasize the integration of Topological and local Geometric maps that are created using a SLAM algorithm. The topological and metric representations are created independently, being local metric maps associated with topological places and registered at the topological level. The T-SLAM approach is mathematically formulated and applied to the localization problem within the Intelligent Robotic Porter System (IRPS) project, which is aimed at deploying mobile robots in large environments (e.g. airports). Some preliminary experimental results demonstrate the validity of the proposed method.

关键词： Robots Hidden Markov models Robot sensing systems Sensors Robot kinematics Aerospace electronics Indexes

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3DCLIMBER: A climbing robot for inspection of 3D human made structures

3DCLIMBER: A climbing robot for inspection of 3D human made ...

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2008 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Mahmoud Tavakoli Ali Marjovi Lino Marques Anibal T. de Almeida Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)9781424420575

3DCLIMBER is a running project in the University of Coimbra for developing a climbing robot with the capability of manipulating over 3D human-made structures. This paper mainly discuss the conceptual and detailed design and development of a Pole Climbing robot with minimum degrees of freedom which can climb over 3D structures with bends and branches followed by Preliminary test results of the robot performance. Electronics architecture and control algorithms are briefly described. The paper finishes with discussion of the current results and identifies some future works.

关键词： Robots Grippers Brushless motors DC motors Brushless DC motors AC motors Climbing robots

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On the Design of Rotorcraft Landing Controllers

On the Design of Rotorcraft Landing Controllers

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2008 Mediterranean Conference on Control Automation, vol.4

作者： Pedro Serra Rita Cunha Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute of Systems and Robotics Instituto Superior Technico Lisboa Portugal

This paper describes a solution to the problem of landing a helicopter autonomously. The methodology used poses the problem as a discrete time path following control problem where a conveniently defined error state space model of the helicopter is modified to include the aerodynamic effects of flying within close proximity to the ground. An affine parameter-dependent model representation is adopted that describes the helicopter linearized error dynamics for the predefined landing operating region. A state feedback H{sub}2 control problem for affine parameter-dependent systems is posed and solved using Linear Matrix Inequalities (LMIs). The resulting nonlinear controller is implemented using the D-methodology and dynamic weights to enforce bandwidth constraints on the actuators. The effectiveness of the proposed controller with and without dynamic weights on the actuation is assessed in simulation using the full nonlinear dynamic model of a small-scale helicopter.

关键词： Automation Conferences

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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