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System Identification Using Vision Based Localisation For A Hexapod Robot
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Book Synopsis System Identification, Using Vision-based Localisation, for a Hexapod Robot by : David Maiwand
Download or read book System Identification, Using Vision-based Localisation, for a Hexapod Robot written by David Maiwand and published by . This book was released on 2003 with total page 58 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "This Masters Thesis consists of two broad sections. The first documents the vision-based localisation algorithms that I have implemented. The second section describes the process and the results of system identification for RHex. All of the localisation algorithms are feature-based schemes which detect artificial landmarks using a fast colour segmentation process. The main difference between the algorithms is the type of artificial landmark used. The line-based localisation scheme returns a two degree of freedom location, where as the point (or sphere) and cube based schemes can give full SE(3) poses. These algorithms were specifically designed for use with the vision system on the hexapod robot RHex, but they are general enough to be used on any similar infrastructure. The system identification was implemented using classical parameter-based methods, where RHex's motion model is approximated by linear ARMAX models. The analysis showed that the faster the gait used, the greater the order of the ARMAX polynomials required to give a reasonable model representation. A novel aspect of the system identification problem is that RHex is not a rigid body (as its legs are compliant). This is in contrast to the majority of (mobile) robots, which can be reasonably aproximated by rigid bodies."
Download or read book Robotics Research written by Paolo Dario and published by Springer. This book was released on 2005-08-24 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: ISRR, the "International Symposium on Robotics Research", is one of robotics’ pioneering symposia, which has established some of the field's most fundamental and lasting contributions over the past two decades. This book presents the results of the eleventh edition of "Robotics Research" ISRR03, offering a broad range of topics in robotics. The contributions provide a wide coverage of the current state of robotics research: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope, and define the state of the art of robotics and its future direction.
Book Synopsis A Robot Vision System for Object Identification, Localization, and Manipulation Using 3D Geometric Models by : Clint Robert Bidlack
Download or read book A Robot Vision System for Object Identification, Localization, and Manipulation Using 3D Geometric Models written by Clint Robert Bidlack and published by . This book was released on 1991 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Visual Perception for Humanoid Robots by : David Israel González Aguirre
Download or read book Visual Perception for Humanoid Robots written by David Israel González Aguirre and published by Springer. This book was released on 2018-09-01 with total page 253 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides an overview of model-based environmental visual perception for humanoid robots. The visual perception of a humanoid robot creates a bidirectional bridge connecting sensor signals with internal representations of environmental objects. The objective of such perception systems is to answer two fundamental questions: What & where is it? To answer these questions using a sensor-to-representation bridge, coordinated processes are conducted to extract and exploit cues matching robot’s mental representations to physical entities. These include sensor & actuator modeling, calibration, filtering, and feature extraction for state estimation. This book discusses the following topics in depth: • Active Sensing: Robust probabilistic methods for optimal, high dynamic range image acquisition are suitable for use with inexpensive cameras. This enables ideal sensing in arbitrary environmental conditions encountered in human-centric spaces. The book quantitatively shows the importance of equipping robots with dependable visual sensing. • Feature Extraction & Recognition: Parameter-free, edge extraction methods based on structural graphs enable the representation of geometric primitives effectively and efficiently. This is done by eccentricity segmentation providing excellent recognition even on noisy & low-resolution images. Stereoscopic vision, Euclidean metric and graph-shape descriptors are shown to be powerful mechanisms for difficult recognition tasks. • Global Self-Localization & Depth Uncertainty Learning: Simultaneous feature matching for global localization and 6D self-pose estimation are addressed by a novel geometric and probabilistic concept using intersection of Gaussian spheres. The path from intuition to the closed-form optimal solution determining the robot location is described, including a supervised learning method for uncertainty depth modeling based on extensive ground-truth training data from a motion capture system. The methods and experiments are presented in self-contained chapters with comparisons and the state of the art. The algorithms were implemented and empirically evaluated on two humanoid robots: ARMAR III-A & B. The excellent robustness, performance and derived results received an award at the IEEE conference on humanoid robots and the contributions have been utilized for numerous visual manipulation tasks with demonstration at distinguished venues such as ICRA, CeBIT, IAS, and Automatica.
Book Synopsis Hydraulically Actuated Hexapod Robots by : Kenzo Nonami
Download or read book Hydraulically Actuated Hexapod Robots written by Kenzo Nonami and published by Springer Science & Business Media. This book was released on 2013-11-29 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: Legged robots are a promising locomotion system, capable of performing tasks that conventional vehicles cannot. Even more exciting is the fact that this is a rapidly developing field of study for researchers from a variety of disciplines. However, only a few books have been published on the subject of multi-legged robots. The main objective of this book is to describe some of the major control issues concerning walking robots that the authors have faced over the past 10 years. A second objective is to focus especially on very large hydraulically driven hexapod robot locomotion weighing more than 2,000 kg, making this the first specialized book on this topic. The 10 chapters of the book touch on diverse relevant topics such as design aspects, implementation issues, modeling for control, navigation and control, force and impedance control-based walking, fully autonomous walking, walking and working tasks of hexapod robots, and the future of walking robots. The construction machines of the future will very likely resemble hydraulically driven hexapod robots like the ones described in this book – no longer science fiction but now a reality.
Author :Management Association, Information Resources Publisher :IGI Global ISBN 13 :1522552057 Total Pages :2494 pages Book Rating :4.5/5 (225 download)
Book Synopsis Computer Vision: Concepts, Methodologies, Tools, and Applications by : Management Association, Information Resources
Download or read book Computer Vision: Concepts, Methodologies, Tools, and Applications written by Management Association, Information Resources and published by IGI Global. This book was released on 2018-02-02 with total page 2494 pages. Available in PDF, EPUB and Kindle. Book excerpt: The fields of computer vision and image processing are constantly evolving as new research and applications in these areas emerge. Staying abreast of the most up-to-date developments in this field is necessary in order to promote further research and apply these developments in real-world settings. Computer Vision: Concepts, Methodologies, Tools, and Applications is an innovative reference source for the latest academic material on development of computers for gaining understanding about videos and digital images. Highlighting a range of topics, such as computational models, machine learning, and image processing, this multi-volume book is ideally designed for academicians, technology professionals, students, and researchers interested in uncovering the latest innovations in the field.
Book Synopsis The International Conference on Image, Vision and Intelligent Systems (ICIVIS 2021) by : Jian Yao
Download or read book The International Conference on Image, Vision and Intelligent Systems (ICIVIS 2021) written by Jian Yao and published by Springer Nature. This book was released on 2022-03-03 with total page 1174 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a collection of the papers accepted by the ICIVIS 2021—The International Conference on Image, Vision and Intelligent Systems held on June 15–17, 2021, in Changsha, China. The topics focus but are not limited to image, vision and intelligent systems. Each part can be used as an excellent reference by industry practitioners, university faculties, research fellows and undergraduates as well as graduate students who need to build a knowledge base of the most current advances and state-of-practice in the topics covered by this conference proceedings.
Book Synopsis Experimental Robotics IX by : Marcelo H. Ang
Download or read book Experimental Robotics IX written by Marcelo H. Ang and published by Springer Science & Business Media. This book was released on 2006-02-09 with total page 648 pages. Available in PDF, EPUB and Kindle. Book excerpt: The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also verified experimentally. It collects contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the Ninth ISER held in Singapore.
Book Synopsis New Development in Robot Vision by : Yu Sun
Download or read book New Development in Robot Vision written by Yu Sun and published by Springer. This book was released on 2014-10-08 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of robotic vision has advanced dramatically recently with the development of new range sensors. Tremendous progress has been made resulting in significant impact on areas such as robotic navigation, scene/environment understanding, and visual learning. This edited book provides a solid and diversified reference source for some of the most recent important advancements in the field of robotic vision. The book starts with articles that describe new techniques to understand scenes from 2D/3D data such as estimation of planar structures, recognition of multiple objects in the scene using different kinds of features as well as their spatial and semantic relationships, generation of 3D object models, approach to recognize partially occluded objects, etc. Novel techniques are introduced to improve 3D perception accuracy with other sensors such as a gyroscope, positioning accuracy with a visual servoing based alignment strategy for microassembly, and increasing object recognition reliability using related manipulation motion models. For autonomous robot navigation, different vision-based localization and tracking strategies and algorithms are discussed. New approaches using probabilistic analysis for robot navigation, online learning of vision-based robot control, and 3D motion estimation via intensity differences from a monocular camera are described. This collection will be beneficial to graduate students, researchers, and professionals working in the area of robotic vision.
Book Synopsis Bearing-only Simultaneous Localization and Mapping for Vision-Based Mobile Robots by : Henry Huang
Download or read book Bearing-only Simultaneous Localization and Mapping for Vision-Based Mobile Robots written by Henry Huang and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In this chapter, we proposed a vision-based approach to bearing-only SLAM in a 2dimensional space. We assumed the environment contained several visually distinguishable landmarks. This approach is inspired from techniques used in stereo vision and Structure From Motion. Our landmark initialization method relies solely on the bearing measurements from a single camera. This method does not require information from an odometer or a range sensor. All the object positions can be estimated in a landmark-based frame. The trade-off is that this method requires the robot to be able to move in a straight line for a short while to initialize the landmarks. The proposed method is particularly accurate and useful when the robot can guide itself in a straight line by visually locking on static objects. Since the method does not rely on odometry and range information, the induced map is up to a scale factor only. In our method, the distance L1 - L 2 of two landmarks is taken as the measurement unit of the map. The selection of L1 and L 2 is critical for the accuracy of.
Author :Erich-Christian Oerke Publisher :Springer Science & Business Media ISBN 13 :9048192773 Total Pages :450 pages Book Rating :4.0/5 (481 download)
Book Synopsis Precision Crop Protection - the Challenge and Use of Heterogeneity by : Erich-Christian Oerke
Download or read book Precision Crop Protection - the Challenge and Use of Heterogeneity written by Erich-Christian Oerke and published by Springer Science & Business Media. This book was released on 2010-08-03 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt: Precision farming is an agricultural management system using global navigation satellite systems, geographic information systems, remote sensing, and data management systems for optimizing the use of nutrients, water, seed, pesticides and energy in heterogeneous field situations. This book provides extensive information on the state-of-the-art of research on precision crop protection and recent developments in site-specific application technologies for the management of weeds, arthropod pests, pathogens and nematodes. It gives the reader an up-to-date and in-depth review of both basic and applied research developments. The chapters discuss I) biology and epidemiology of pests, II) new sensor technologies, III) applications of multi-scale sensor systems, IV) sensor detection of pests in growing crops, V) spatial and non-spatial data management, VI) impact of pest heterogeneity and VII) precise mechanical and chemical pest control.
Book Synopsis Proceedings of the 2018 International Symposium on Experimental Robotics by : Jing Xiao
Download or read book Proceedings of the 2018 International Symposium on Experimental Robotics written by Jing Xiao and published by Springer Nature. This book was released on 2020-01-22 with total page 804 pages. Available in PDF, EPUB and Kindle. Book excerpt: In addition to the contributions presented at the 2018 International Symposium on Experimental Robotics (ISER 2018), this book features summaries of the discussions that were held during the event in Buenos Aires, Argentina. These summaries, authored by leading researchers and session organizers, offer important insights on the issues that drove the symposium debates. Readers will find cutting-edge experimental research results from a range of robotics domains, such as medical robotics, unmanned aerial vehicles, mobile robot navigation, mapping and localization, field robotics, robot learning, robotic manipulation, human–robot interaction, and design and prototyping. In this unique collection of the latest experimental robotics work, the common thread is the experimental testing and validation of new ideas and methodologies. The International Symposium on Experimental Robotics is a series of bi-annual symposia sponsored by the International Foundation of Robotics Research, whose goal is to provide a dedicated forum for experimental robotics research. In recent years, robotics has broadened its scientific scope, deepened its methodologies and expanded its applications. However, the significance of experiments remains at the heart of the discipline. The ISER gatherings are an essential venue where scientists can meet and have in-depth discussions on robotics based on this central tenet.
Book Synopsis Dynamical Systems, Wave-Based Computation and Neuro-Inspired Robots by : Paolo Arena
Download or read book Dynamical Systems, Wave-Based Computation and Neuro-Inspired Robots written by Paolo Arena and published by Springer Science & Business Media. This book was released on 2008-11-30 with total page 253 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume is a special Issue on "Dynamical Systems, Wave based computation and neuro inspired robots'^ based on a Course carried out at the CISM in Udine (Italy), the last week of September, 2003. From the topics treated within that Course, several new ideas were f- mulated, which led to a new kind of approach to locomotion and p- ception, grounded both on biologically inspired issues and on nonlinear dynamics. The Course was characterised by a high degree of multi disciplinarity. In fact, in order to conceive, design and build neuro inspired machines, it is necessary to deeply scan into different d- ciplines, including neuroscience. Artificial Intelligence, Biorobotics, Dynamical Systems theory and Electronics. New types of moving machines should be more closely related to the biological rules, not discarding the real implementation issues. The recipe has to include neurobiological paradigms as well as behavioral aspects from the one hand, new circuit paradigms, able of real time control of multi joint robots on the other hand. These new circuit paradigms are based on the theory of complex nonlinear dynamical systems, where aggregates of simple non linear units into ensembles of lattices, have the pr- erty that the solution set is much richer than that one shown by the single units. As a consequence, new solutions ^'emerge'\ which are often characterized by order and harmony.
Book Synopsis A Mobile Robotic Platform Capable of Stereo Vision Based on Blod Detection by : Helena Caminal Pallarès
Download or read book A Mobile Robotic Platform Capable of Stereo Vision Based on Blod Detection written by Helena Caminal Pallarès and published by . This book was released on 2014 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In robotics, vision is an indispensable tool. It is used for a wide spectrum of applications, such as Simultaneous Localization And Mapping (SLAM), object recognition and communication. Vision is expensive both in terms of hardware (cameras with sufficient image quality, CPU/memory to analyze the images fast enough) and software (need for efficient algorithms). For this reason, robot with advanced vision capabilities are tipically custom-build and expensive. This is particularly true for stereo vision, which has lots of potential. Nevertheless, its use is severely limited by the discussed hardware and software costs. These issues make it difficult to build cheap robots that can achieve stereo vision. A field in which this is one of the main problems is collective robotics, in which the cost of each individual unit is a huge driver in the feasibility of a robot system. Motivated by the above considerations, this work provides the first design of a cheap, affordable robot capable of stereo vision. This work is a part of a bigger project which has additional considerations. In this bigger project, only objects with a set of fixed features are considered interesting for the robot. These objects are single-color objects (although each object can have a different color) and spherical shape. These last considerations lead to the necessity of a color-detection system and three-dimensional position reconstruction based only on spherical targets. The objectives of this work were to create a mobile robotic platform with the discussed capabilities. The platform has been designed and built so that the software and the integration of the hardware modules can be tested. The work described in this document includes both the hardware and the software design and implementation. It presents an innovative way of reconstructing a three-dimensional scene, that is based on color blob-detection. It also provides information about the motion system and the distributed control of the platform. The integration of all the modules has been tested.
Book Synopsis Intelligent Robotics and Applications by : Xin-Jun Liu
Download or read book Intelligent Robotics and Applications written by Xin-Jun Liu and published by Springer Nature. This book was released on 2021-10-19 with total page 780 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 4-volume set LNAI 13013 – 13016 constitutes the proceedings of the 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021, which took place in Yantai, China, during October 22-25, 2021. The 299 papers included in these proceedings were carefully reviewed and selected from 386 submissions. They were organized in topical sections as follows: Robotics dexterous manipulation; sensors, actuators, and controllers for soft and hybrid robots; cable-driven parallel robot; human-centered wearable robotics; hybrid system modeling and human-machine interface; robot manipulation skills learning; micro_nano materials, devices, and systems for biomedical applications; actuating, sensing, control, and instrumentation for ultra-precision engineering; human-robot collaboration; robotic machining; medical robot; machine intelligence for human motion analytics; human-robot interaction for service robots; novel mechanisms, robots and applications; space robot and on-orbit service; neural learning enhanced motion planning and control for human robot interaction; medical engineering.
Book Synopsis Advanced Image Processing Techniques and Applications by : Kumar, N. Suresh
Download or read book Advanced Image Processing Techniques and Applications written by Kumar, N. Suresh and published by IGI Global. This book was released on 2017-02-10 with total page 459 pages. Available in PDF, EPUB and Kindle. Book excerpt: Today, the scope of image processing and recognition has broadened due to the gap in scientific visualization. Thus, new imaging techniques have developed, and it is imperative to study this progression for optimal utilization. Advanced Image Processing Techniques and Applications is an essential reference publication for the latest research on digital image processing advancements. Featuring expansive coverage on a broad range of topics and perspectives, such as image and video steganography, pattern recognition, and artificial vision, this publication is ideally designed for scientists, professionals, researchers, and academicians seeking current research on solutions for new challenges in image processing.
Book Synopsis Advances in Autonomous Mini Robots by : Ulrich Rückert
Download or read book Advances in Autonomous Mini Robots written by Ulrich Rückert and published by Springer Science & Business Media. This book was released on 2012-03-07 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous robots must carry out useful tasks all by themselves relying entirely on their own perceptions of their environment. The cognitive abilities required for autonomous action are largely independent of robot size, which makes mini robots attractive as artefacts for research, education and entertainment. Autonomous mini robots must be small enough for experimentation on a desktop or a small laboratory. They must be easy to carry and safe for interaction with humans. They must not be expensive. Mini robot designers have to work at the leading edge of technology so that their creations can carry out purposeful autonomic action under these constraints. Since 2001 researchers have met every two years for an international symposium to report on the advances achieved in Autonomous Mini Robots for Research and Edutainment (AMiRE). The AMiRE Symposium is a single track conference that offers ample opportunities for discussion and exchange of ideas. This volume contains the contributed papers of the 2011 AMiRE Symposium held from 23 to 25 May 2011 at Bielefeld University, Germany. The contributions in this volume represent the state-of-the-art of autonomous mini robots; they demonstrate what is currently technically feasible and show some of the applications for autonomous mini robots.
