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We present a stereo vision-aided inertial navigation system and demonstrate its potential in power line inspection at close range using an unmaned aerial vehicle. This is made possible by recent developments in visual odometry and a newly proposed algorithm for the loose coupling of an inertial measurement unit and visual odometry. Our experiments show promising results.
Understanding the spatial dimensionality and temporal context of human hand actions can provide representations for programming grasping actions in robots and inspire design of new robotic and prosthetic hands. The natural representation of human hand motion has high dimensionality. For specific activities such as handling and grasping of objects, the commonly observed hand motions lie on a lower-dimensional...
Filter tracking models based on SURF (Speed-Up Robust Features) points are presents in this paper. They are used for robots to track the objects. The SURF points in the frames are matched by RANSAC (RANdom SAmple Consistent) with objective template in tracking process. It presents several filter tracking models, like SURF+PF (Particle Filter), SURF+KF (Kalman Filter), SURF+EKF (Extended Kalman Filter)...
For effective use of learning by imitation with a robot, it is necessary that the robot can adapt to the current state of the external world. This paper describes an optimization approach that enables the generation of a new motion trajectory, which accomplishes the task in a given situation, based on a library of example movements. New movements are generated by applying statistical methods, where...
It is interesting to observe from human visually guided tasks that visual feedback is not used for the entire movement, but only at end phases when our hand is near the target. We are able to move our hand from an initial position that is not within our field of view and transit smoothly and easily into visual feedback when the target is near. Inspired by this natural action, this paper presents a...
To be able to determine the position of a static object in 3D space by means of computer vision, it has to be seen by cameras from at least two different view points. The same applies for measuring the position of a moving object based on images captured at one single time instant. However, if the cameras are not synchronized in time, or if a moving object is not visible in all images, one can not...
In this paper we tackle a Fish-Catching task under a visual feedback hand-eye system with catching net. As the time of tracking and catching process continues, and releasing the caught immediately into the same pool, then the fish can somewhat get accustomed to the net motion pattern and gradually find out new strategies on how to escape from the pursuing net. For the sake of such innate ability being...
A knowledge-based approach to imitation learning of motion generation for humanoid robots and an imitative motion generation system based on motion knowledge learning and reuse are described. The system has three parts: recognizing, learning, and modifying parts. The first part recognizes an instructed motion distinguishing it from the motion knowledge database by the continuous hidden Markov model...
A new approach which integrates an omnidirectional vision system, real world devices, such as mobile robots, and an interactive evolutionary interface for sound production, is presented. Starting with an evolutionary composition system named VOX POPULI and later JaVOX, a hybrid environment named AURAL has evolved. It uses curves drawn in a GUI and trajectories produced by mobile robots to modify the...
Recently, classical pairwise Structure From Motion (SfM) techniques have been combined with non-linear global optimization (Bundle Adjustment, BA) over a sliding window to recursively provide camera pose and feature location estimation from long image sequences. Normally called Visual Odometry, these algorithms are nowadays able to estimate with impressive accuracy trajectories of hundreds of meters;...
This paper introduces the design and implement of a novel control systems for power substation equipment inspection robot. According to the real condition of the power substation equipment inspection, the overall structure of the robot control systems are described, and a new monocular robot's navigation method based on colorful image processing was proposed. By the use of image partition of the HSI...
This paper introduces a use of iterative learning control to improve a performance of arm robot in repeatable task. Iterative learning control aims to converge the repeating distance error produced from arm robot by adjusting the control input in the current run to feedback control system based on error observed from the previous run. The feedback signal to the system is experimentally obtained from...
The trajectory is one of major issues for a humanoid robot because not every trajectory can provide a stable robot motion. In this paper, a real human motion is used to generate a robot trajectory. Image processing and transformation are used to extract the trajectory from a human motion to a robot trajectory. The dynamic stability of a robot is considered by using the zero moment point (ZMP) because...
Recently, the problem of autonomous navigation of automobiles has gained substantial interest in the robotics community. Especially during the two recent DARPA grand challenges, autonomous cars have been shown to robustly navigate over extended periods of time through complex desert courses or through dynamic urban traffic environments. In these tasks, the robots typically relied on GPS traces to...
Classical image-based visual servo methods regulate error in the image space and undergo difficulties when the initial and desired robot positions are distant. It is not trivial to introduce constraints in the realized trajectories and to ensure convergence due to the nonlinearity of the system. This paper proposes a trajectory planning scheme based on Probabilistic Roadmaps (PRM) in order to achieve...
In this paper we describe an approach to computing a navigation summary:a visual synopsis of the notable images that characterize a trajectory. We use a combination of PCA and supplementary features to ensure both converge of the trajectory and appearance spaces. The results obtained from a series of experiments are promising and provide us with a method to index and classify video footage from our...
RoboCup middle-size robot must be controlled realtime, accurately and steadily. So an improved HSIC controller was put forward in this paper to do the motion control for the soccer robot. It was solved that the robot can't veraciously track the trajectory in time in the high-speed competition because of its intrinsic characteristics. Simulation results show that compare with conventional PID, this...
When a human is introduced into a robotic cell, the robot controller must be aware of the human location in order to assure her/his physical integrity. This paper presents a pre-collision strategy which maintains a safety distance between a robot and a human who wears a tracking system composed of a motion capture suit and a UWB localization system. The system proposed is able to guide the robot using...
Biologically inspired techniques have been widely investigated for realizing adaptive searching behaviour in a mobile robot. In this paper, we propose a framework based on ldquoYuragirdquo, a Japanese word for biological fluctuation. Yuragi-based framework is simple, has a noise-utilizing novelty to keep the robot searching for the goal, while its basic expression enables the robot to switch elegantly...
Robot learning by demonstration (LbD) has been a natural learning paradigm through which robots can learn the underlying tasks from human's demonstrations. In most LbD related work, the demonstration normally just includes simple and short-term actions like gestures and grasps. Little attention was paid on the demonstration learning of long-term motions. In this paper, we propose to study the motion...
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