Kröger / Wahl Advances in Robotics Research

Theory, Implementation, Application
1. Auflage 2009
ISBN: 978-3-642-01213-6
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 358 Seiten

The German Workshop on Robotics is a convention of roboticists from academia and industry working on mathematical and algorithmic foundations of robotics, on the design and analysis of robotic systems as well as on robotic applications. Selected contributions from researchers in German-speaking countries as well as from the international robotics community compose this volume. The papers are organized in ten scientific tracks: Kinematic and Dynamic Modeling, Motion Generation, Sensor Integration, Robot Vision, Robot Programming, Humanoid Robots, Grasping, Medical Robotics, Autonomous Helicopters, and Robot Applications. Due to an extensive review and discussion process, this collection of scientific contributions is of very high caliber and promises to strongly influence future robotic research activities.

Autoren/Hrsg.

Kröger, Torsten

Wahl, Friedrich

Inhaltsverzeichnis

1;Title Page;2
2;Preface;5
3;Contents;6
4;List of Contributors;10
5;Kinematic and Dynamic Modelling;6
5.1;Joint Dominance Coefficients: A Sensitivity-Based Measure for Ranking Robotic Degrees of Freedom;21
5.1.1;Introduction;21
5.1.2;Related Work;22
5.1.3;Methodology;23
5.1.4;Application to Kinematic Linkages;27
5.1.5;Conclusion;30
5.1.6;References;30
5.2;Learning Kinematics from Direct Self-Observation Using Nearest-Neighbor Methods;31
5.2.1;Introduction;31
5.2.2;Related Work;32
5.2.3;The Model-Free Approach;33
5.2.4;Results;37
5.2.5;Conclusions;39
5.2.6;References;40
5.3;Guidelines for Low Mass and Low Inertia Dynamic Balancing of Mechanisms and Robotics;41
5.3.1;Introduction;41
5.3.2;Influence of Balancing Architecture;43
5.3.3;Influence of Balancing Parameters;45
5.3.4;Influence of Design Space;46
5.3.5;Guidelines for Low-Mass and Low-Inertia Dynamic Balancing;49
5.3.6;Conclusion;49
5.3.7;References;50
6;Motion Generation;6
6.1;Probability-Based Robot Search Paths;51
6.1.1;Introduction;51
6.1.2;Related Work;52
6.1.3;Search Paths Based on Probability Densities;53
6.1.4;Experimental Results;57
6.1.5;Conclusion;61
6.1.6;References;61
6.2;Mapping and Navigation of Mobile Robots in Natural Environments;63
6.2.1;Forest Navigation;63
6.2.2;Map Building;64
6.2.3;Localization;67
6.2.4;Results;69
6.2.5;Conclusion;71
6.2.6;References;71
6.3;Sensor-Based Online Planning of Time-Optimized Paths in Dynamic Environments;73
6.3.1;Introduction;73
6.3.2;State of the Art;74
6.3.3;Real-Time Shortest-Path Planning Algorithm;75
6.3.4;Time-Optimized Path Planning;76
6.3.5;Discussion;80
6.3.6;Experimental Results;80
6.3.7;Conclusion;83
6.3.8;References;83
7;Sensor Integration;6
7.1;Analysis of Strain Transfer to FBG’s for Sensorized Telerobotic End-Effector Applications;84
7.1.1;Introduction;84
7.1.2;FBG Working Principle;86
7.1.3;Experimental Validation;91
7.1.4;Conclusions;93
7.1.5;References;94
7.2;Intuitive Collision Avoidance of Robots Using Charge Generated Virtual Force Fields;95
7.2.1;Introduction;95
7.2.2;Hand-Operation of Robot Manipulators;96
7.2.3;Collision Avoidance Using Virtual Force Fields;98
7.2.4;Conlusion;103
7.2.5;References;104
7.3;6D Pose Uncertainty in Robotic Perception;106
7.3.1;Introduction;107
7.3.2;Previous Work;108
7.3.3;Pose Uncertainty by Mixtures of Projected Gaussian Distributions;109
7.3.4;Conclusion and Outlook;113
7.3.5;References;114
8;Robot Vision;7
8.1;3D Shape Detection for Mobile Robot Learning;116
8.1.1;Introduction;116
8.1.2;Related Work;117
8.1.3;System Overview: Perceptual Grouping to Detect Object Shape;118
8.1.4;Gestalt Principles;119
8.1.5;Experiments and Results;122
8.1.6;Conclusion and Further Work;124
8.1.7;References;125
8.2;3D Collision Detection for Industrial Robots and Unknown Obstacles Using Multiple Depth Images;127
8.2.1;Introduction;127
8.2.2;State of the Art;128
8.2.3;Problem Description;129
8.2.4;Fast Collision Detection Algorithm;131
8.2.5;Experimental Results;133
8.2.6;Conclusions;136
8.2.7;References;137
8.3;Reducing Motion Artifacts in Mobile Vision Systems via Dynamic Filtering of Image Sequences;139
8.3.1;Introduction;139
8.3.2;Motion Artifacts;140
8.3.3;Related Work;141
8.3.4;Data Processing Scheme;142
8.3.5;System Evaluation;145
8.3.6;Conclusion;148
8.3.7;References;148
9;Robot Programming;7
9.1;A Software Architecture for Model-Based Programming of Robot Systems;150
9.1.1;Introduction;150
9.1.2;Related Work;151
9.1.3;EasyLab;152
9.1.4;Interfaces;156
9.1.5;Applications;157
9.1.6;Summary;159
9.1.7;Future Work;160
9.1.8;References;160
9.2;Intuitive Robot Programming of Spatial Control Loops with Linear Movements;162
9.2.1;Introduction;162
9.2.2;Related Work;164
9.2.3;Overview of System Concept;165
9.2.4;Spatial Loops and Demonstration Types;165
9.2.5;From Demonstrations to Program Loops;167
9.2.6;Experiments and Results;170
9.2.7;Conclusions;172
9.2.8;References;172
9.3;Model-Based Programming “by Demonstration”– Fast Setup of Robot Systems (ProDemo);174
9.3.1;Introduction;174
9.3.2;User Interface;176
9.3.3;Modeling by Demonstration;177
9.3.4;Visual Programming;180
9.3.5;Experimental Results;181
9.3.6;Conclusion;182
9.3.7;References;183
10;Humanoid Robots;7
10.1;New Concept for Wrist Design of the Humanoid Robot ARMAR;184
10.1.1;Introduction;184
10.1.2;New Concept;186
10.1.3;Simulation;188
10.1.4;Conclusion;192
10.1.5;References;192
10.2;Biological Motivated Control Architecture and Mechatronics for a Human-Like Robot;194
10.2.1;Introduction;194
10.2.2;State of the Art;195
10.2.3;Concept;196
10.2.4;Prototype;198
10.2.5;Experiments and Results;202
10.2.6;Conclusion and Outlook;203
10.2.7;References;204
10.3;Using the Torso to Compensate for Non-Minimum Phase Behaviour in ZMP BipedalWalking;206
10.3.1;Introduction;206
10.3.2;Literature Review;207
10.3.3;Generalized Two Link Inverted Pendulum;211
10.3.4;Comparison and Simulation Results;215
10.3.5;Conclusions and Future Work;216
10.3.6;References;216
11;Grasping;8
11.1;Object-Specific Grasp Maps for Use in Planning Manipulation Actions;218
11.1.1;Introduction;218
11.1.2;Grasp Maps for Use in Grasp Planning;220
11.1.3;Reachable Grasps;223
11.1.4;Outlook and Future Work;227
11.1.5;References;227
11.2;Vision Controlled Grasping by Means of an Intelligent Robot Hand;229
11.2.1;Introduction;229
11.2.2;Vision-Based Grasping Concept;231
11.2.3; Experimental Set-Up;232
11.2.4;Decision Making Algorithm;234
11.2.5;Experimental Results;236
11.2.6;Conclusion;239
11.2.7;References;239
11.3;Learning an Object-Grasp Relation for Silhouette-Based Grasp Planning;241
11.3.1;Introduction;241
11.3.2;Object Description;242
11.3.3;Grasp Description;244
11.3.4;Object-Grasp Relation;246
11.3.5;Evaluation;248
11.3.6;Conclusions;250
11.3.7;References;250
11.4;Efficient Parallel Random Sample Matching for Pose Estimation, Localization, and Related Problems;252
11.4.1;Introduction;252
11.4.2;Brief Review of the RANSAM and the pRANSAM Algorithms;254
11.4.3;Selecting an Appropriate Hypothesis Test Function;257
11.4.4;Experimental Results;257
11.4.5;Limitations and Future Work;261
11.4.6;Conclusion and Outlook;262
11.4.7;References;262
12;Medical Robotics;8
12.1;Automated Robot Assisted Fracture Reduction;264
12.1.1;Introduction;264
12.1.2;Methods;266
12.1.3;Experiments and Results;273
12.1.4;Conclusion and Outlook;273
12.1.5;References;274
12.2;Path Planning for Robot-Guided Endoscopes in Deformable Environments;276
12.2.1;Introduction;276
12.2.2;Model of the Mixed Hard / Soft TissueWorkspace;277
12.2.3;Configuration Space of the Endoscope;280
12.2.4;Velocity Constrained Path Planning;283
12.2.5;Experiments;285
12.2.6;Conclusion;286
12.2.7;References;286
13;Autonomous Helicopters;8
13.1;An Unmanned Helicopter for Autonomous Flights in Urban Terrain;288
13.1.1;Introduction;288
13.1.2;The Intelligent Unmanned Aerial System;289
13.1.3;From Simulation to Outdoor Flights;295
13.1.4;Summary;296
13.1.5;References;296
13.2;Interaction of Altitude Control and Waypoint Navigation of a 4 Rotor Helicopter;299
13.2.1;Introduction;299
13.2.2;State of the Art;300
13.2.3;Target System;301
13.2.4;Altitude Control Algorithm;302
13.2.5;Position Control Algorithm;304
13.2.6;Simulations;306
13.2.7;Experiments;307
13.2.8;Conclusion;309
13.2.9;Outlook;309
13.2.10;References;310
13.3;Cooperative Autonomous Helicopters for Load Transportation and Environment Perception;311
13.3.1;Introduction;311
13.3.2;Load Transportation;312
13.3.3;Cooperative Perception;317
13.3.4;Decision Making Architecture;320
13.3.5;Conclusions;321
13.3.6;References;321
14;Applications;9
14.1;Robot on the Leash—An Intuitive Inexpensive Interface for Robots Using the NintendoWii Remote;323
14.1.1;Introduction;323
14.1.2;Related Work;324
14.1.3;Concept of the Interface;325
14.1.4;Nintendo Wii Remote;325
14.1.5;Technical Implementation;326
14.1.6;Experimental Setup;330
14.1.7;User Trails and Results;330
14.1.8;Conclusions;332
14.1.9;References;332
14.2;Robot Basketball :Ball Dribbling—A Modified Juggling Task;334
14.2.1;Introduction;334
14.2.2;System Model;336
14.2.3;Control Design;338
14.2.4;A comparison of the Classic Juggling and the Dribbling Task;339
14.2.5;Experimental Evaluation;341
14.2.6;Conclusion and Future Work;343
14.2.7;References;343
14.3;Research on Exoskeletons at the TU Berlin;346
14.3.1;Introduction;346
14.3.2;Exoskeletons for the Hand;347
14.3.3;Lower Extremities;351
14.3.4;Work in Progress: Arm Exoskeletons for Multimodal Human-Computer Interaction;354
14.3.5;Summary and Conclusion;355
14.3.6;References;355
14.4;Hard- and Software Architecture of a Small Autonomous Underwater Vehicle for Environmental Monitoring Tasks;358
14.4.1;Introduction;358
14.4.2;Hardware Architecture;359
14.4.3;Software Architecture;364
14.4.4;Behaviour;364
14.4.5;Conclusions;366
14.4.6;Future Works;367
14.4.7;References;367
15;Author Index;368