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This paper describes real-time shape measurement using a newly developed high-speed vision system. Our proposed measurement system can observe a moving/deforming object at high frame rate and can acquire data in real-time. This is realized by using two-dimensional pattern projection and a high-speed vision system with a massively parallel co-processor for numerous-point analysis. We detail our proposed...
This paper deals with the landing motion of an articulated legged robot. Humans use a peculiar crouching motion to land safely which can be characterized by body stiffness and damping. A stiffness controller formulation is used to realize this human behavior for the robot. Using this method, the landing motion is achieved with only the desired body stiffness and damping values, without desired COG...
Autonomous navigation for wheeled mobile robots generally requires to plan a trajectory and to follow it while performing localization in the environment. In order to execute long-range motion, dead-reckoning localization is not precise enough and the robot must use landmark-based localization. Landmark-based localization can produce discontinuities in the robot position estimation, as it is well...
This paper deals with the problem of autonomous navigation for nonholonomic mobile robots. To avoid obstacles while executing a planned motion, we use a nonholonomic trajectory deformation method. Initially, this method did not take into account the velocity and acceleration bounds of the robot. The contribution of this paper is a significant improvement of the method to take into account these kinematic...
We describe a system for visual interaction developed for humanoid robots. It enables the robot to interact with its environment using a smooth whole body motion control driven by stabilized visual targets. Targets are defined as visually extracted "proto-objects" and behavior-relevant object hypotheses and are stabilized by means of a short-term sensory memory. Selection mechanisms are...
This paper presents a novel use of spectral clustering algorithms to support cases where the entries in the affinity matrix are costly to compute. The method is incremental - the spectral clustering algorithm is applied to the affinity matrix after each row/column is added - which makes it possible to inspect the clusters as new data points are added. The method is well suited to the problem of appearance-based,...
This paper characterizes the information space of a robot moving in the plane with limited sensing. The robot has a landmark detector, which provides the cyclic order of the landmarks around the robot, and it also has a touch sensor, that indicates when the robot is in contact with the environment boundary. The robot cannot measure any precise distances or angles, and does not have an odometer or...
This paper addresses the problems of automatically planning autonomous underwater vehicle (AUV) paths which best exploit complex current data, from computational estuarine model forecasts, while also avoiding obstacles. In particular we examine the possibilities for a novel type of AUV mission deployment in fast flowing tidal river regions which experience bi-directional current flow. These environments...
We discuss a ZMP-based running pattern generation for a biped robot equipped with toe springs. Our biped robot HRP-2LT has twelve active DoFs for its legs and two passive DoFs for its toes. The trajectory of the center of mass is designed to realize the specified running motion and the foot trajectories are determined to get proper spring action at lift off phases. They are interpreted into joint...
This paper presents a flexible approach for calibrating omnidirectional single viewpoint sensors from planar grids. These sensors are increasingly used in robotics where accurate calibration is often a prerequisite. Current approaches in the field are either based on theoretical properties and do not take into account important factors such as misalignment or camera-lens distortion or over-parametrised...
NASA's future lunar and martian missions will require a suite of advanced robotic systems to complete tasks during precursor visits and to assist humans while present on the surface. The Centaur is a new mobile, dexterous manipulation system designed with this future role in mind. Centaur combines the sophisticated upper body dexterity of NASA's humanoid, Robonaut, with a rugged and versatile four-wheeled...
Currently available tools for the development of the next generation distributed control and automation systems, adopt traditional architectural styles and do not cover the whole requirements of the development process. One of the major drawbacks of traditional engineering support systems (ESSs), which is extensibility, can be addressed by providing a public domain framework that can be easily extended...
This paper presents a novel approach to electronic compassing for robot in an indoor environment. Operation of compass (magnetometer) is assumed on a mobile robot that is capable to traverse a complete circular path. The electronic compass is used to estimate a robot absolute heading with respect to the magnetic North. This is only compass approach where an evaluation of quality of calibration and...
This paper investigates the effect of semicircular feet on dynamic bipedal walking. It has been clarified by Asano and Luo (2006) that underactuated virtual passive dynamic walking can be realized by using the rolling effect, which acts as the ankle-joint torque virtually. It has been also shown that, throughout parameter studies, the rolling effect dramatically increases the stable domain of limit...
In this paper, we present an image-based markerless human motion capture system, intended for humanoid robot systems. The restrictions set by this ambitious goal are numerous. The input of the system is a sequence of stereo image pairs only, captured by cameras positioned at approximately eye distance. No artificial markers can be used to simplify the estimation problem. Furthermore, the complexity...
From a developmental and educational perspective, play is a "natural" way in which children learn in an enjoyable manner. Through play, juveniles interact with their physical and social worlds and 'construct' their mental world. This paper describes a dedicated robot system realized by Austrian Research Centers GmbH - ARC, which supports children with severe physical impairments for interaction...
This video demonstrates our current investigation in developing autonomous behaviors for humanoid robots. Our main goal is to develop functionalities as much generic as possible in order to realize useful behaviors. More particularly this video demonstrates our current status on extending a popular zero momentum problem (ZMP) preview control based pattern generator, and building some links between...
This paper reports work on the automation of a hot metal carrier, which is a 20 tonne forklift-type vehicle used to move molten metal in aluminium smelters. To achieve efficient vehicle operation, issues of autonomous navigation and materials handling must be addressed. We present our complete system and experiments demonstrating reliable operation. One of the most significant experiments was five-hours...
This paper deals with the visual servoing of textured surfaces inside the human abdomen with a laparoscope for the robot-assisted minimally invasive surgery (MIS). The well-known image-based visual servoing (IBVS) is one of the most common approaches used for model-based servoing. When no CAD model is available, the efficient second-order minimization (ESM) tracking developed by Malis (2002, 2004)...
Skid-steered mobile robots have been widely used for terrain exploration and navigation. In this paper, we present an adaptive trajectory control design for a skid-steered wheeled mobile robot. Kinematic and dynamic modeling of the robot is first presented. A pseudo-static friction model is used to capture the interaction between the wheels and the ground. An adaptive control algorithm is designed...
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