Advances in Robotics Research (eBook)

Title Page 2
Preface 5
Contents 6
List of Contributors 10
Kinematic and Dynamic Modelling 6
Joint Dominance Coefficients: A Sensitivity-Based Measure for Ranking Robotic Degrees of Freedom 21
Introduction 21
Related Work 22
Methodology 23
Application to Kinematic Linkages 27
Conclusion 30
References 30
Learning Kinematics from Direct Self-Observation Using Nearest-Neighbor Methods 31
Introduction 31
Related Work 32
The Model-Free Approach 33
Results 37
Conclusions 39
References 40
Guidelines for Low Mass and Low Inertia Dynamic Balancing of Mechanisms and Robotics 41
Introduction 41
Influence of Balancing Architecture 43
Influence of Balancing Parameters 45
Influence of Design Space 46
Guidelines for Low-Mass and Low-Inertia Dynamic Balancing 49
Conclusion 49
References 50
Motion Generation 6
Probability-Based Robot Search Paths 51
Introduction 51
Related Work 52
Search Paths Based on Probability Densities 53
Experimental Results 57
Conclusion 61
References 61
Mapping and Navigation of Mobile Robots in Natural Environments 63
Forest Navigation 63
Map Building 64
Localization 67
Results 69
Conclusion 71
References 71
Sensor-Based Online Planning of Time-Optimized Paths in Dynamic Environments 73
Introduction 73
State of the Art 74
Real-Time Shortest-Path Planning Algorithm 75
Time-Optimized Path Planning 76
Discussion 80
Experimental Results 80
Conclusion 83
References 83
Sensor Integration 6
Analysis of Strain Transfer to FBG’s for Sensorized Telerobotic End-Effector Applications 84
Introduction 84
FBG Working Principle 86
Experimental Validation 91
Conclusions 93
References 94
Intuitive Collision Avoidance of Robots Using Charge Generated Virtual Force Fields 95
Introduction 95
Hand-Operation of Robot Manipulators 96
Collision Avoidance Using Virtual Force Fields 98
Conlusion 103
References 104
6D Pose Uncertainty in Robotic Perception 106
Introduction 107
Previous Work 108
Pose Uncertainty by Mixtures of Projected Gaussian Distributions 109
Conclusion and Outlook 113
References 114
Robot Vision 7
3D Shape Detection for Mobile Robot Learning 116
Introduction 116
Related Work 117
System Overview: Perceptual Grouping to Detect Object Shape 118
Gestalt Principles 119
Experiments and Results 122
Conclusion and Further Work 124
References 125
3D Collision Detection for Industrial Robots and Unknown Obstacles Using Multiple Depth Images 127
Introduction 127
State of the Art 128
Problem Description 129
Fast Collision Detection Algorithm 131
Experimental Results 133
Conclusions 136
References 137
Reducing Motion Artifacts in Mobile Vision Systems via Dynamic Filtering of Image Sequences 139
Introduction 139
Motion Artifacts 140
Related Work 141
Data Processing Scheme 142
System Evaluation 145
Conclusion 148
References 148
Robot Programming 7
A Software Architecture for Model-Based Programming of Robot Systems 150
Introduction 150
Related Work 151
EasyLab 152
Interfaces 156
Applications 157
Summary 159
Future Work 160
References 160
Intuitive Robot Programming of Spatial Control Loops with Linear Movements 162
Introduction 162
Related Work 164
Overview of System Concept 165
Spatial Loops and Demonstration Types 165
From Demonstrations to Program Loops 167
Experiments and Results 170
Conclusions 172
References 172
Model-Based Programming “by Demonstration”– Fast Setup of Robot Systems (ProDemo) 174
Introduction 174
User Interface 176
Modeling by Demonstration 177
Visual Programming 180
Experimental Results 181
Conclusion 182
References 183
Humanoid Robots 7
New Concept for Wrist Design of the Humanoid Robot ARMAR 184
Introduction 184
New Concept 186
Simulation 188
Conclusion 192
References 192
Biological Motivated Control Architecture and Mechatronics for a Human-Like Robot 194
Introduction 194
State of the Art 195
Concept 196
Prototype 198
Experiments and Results 202
Conclusion and Outlook 203
References 204
Using the Torso to Compensate for Non-Minimum Phase Behaviour in ZMP BipedalWalking 206
Introduction 206
Literature Review 207
Generalized Two Link Inverted Pendulum 211
Comparison and Simulation Results 215
Conclusions and Future Work 216
References 216
Grasping 8
Object-Specific Grasp Maps for Use in Planning Manipulation Actions 218
Introduction 218
Grasp Maps for Use in Grasp Planning 220
Reachable Grasps 223
Outlook and Future Work 227
References 227
Vision Controlled Grasping by Means of an Intelligent Robot Hand 229
Introduction 229
Vision-Based Grasping Concept 231
Experimental Set-Up 232
Decision Making Algorithm 234
Experimental Results 236
Conclusion 239
References 239
Learning an Object-Grasp Relation for Silhouette-Based Grasp Planning 241
Introduction 241
Object Description 242
Grasp Description 244
Object-Grasp Relation 246
Evaluation 248
Conclusions 250
References 250
Efficient Parallel Random Sample Matching for Pose Estimation, Localization, and Related Problems 252
Introduction 252
Brief Review of the RANSAM and the pRANSAM Algorithms 254
Selecting an Appropriate Hypothesis Test Function 257
Experimental Results 257
Limitations and Future Work 261
Conclusion and Outlook 262
References 262
Medical Robotics 8
Automated Robot Assisted Fracture Reduction 264
Introduction 264
Methods 266
Experiments and Results 273
Conclusion and Outlook 273
References 274
Path Planning for Robot-Guided Endoscopes in Deformable Environments 276
Introduction 276
Model of the Mixed Hard / Soft TissueWorkspace 277
Configuration Space of the Endoscope 280
Velocity Constrained Path Planning 283
Experiments 285
Conclusion 286
References 286
Autonomous Helicopters 8
An Unmanned Helicopter for Autonomous Flights in Urban Terrain 288
Introduction 288
The Intelligent Unmanned Aerial System 289
From Simulation to Outdoor Flights 295
Summary 296
References 296
Interaction of Altitude Control and Waypoint Navigation of a 4 Rotor Helicopter 299
Introduction 299
State of the Art 300
Target System 301
Altitude Control Algorithm 302
Position Control Algorithm 304
Simulations 306
Experiments 307
Conclusion 309
Outlook 309
References 310
Cooperative Autonomous Helicopters for Load Transportation and Environment Perception 311
Introduction 311
Load Transportation 312
Cooperative Perception 317
Decision Making Architecture 320
Conclusions 321
References 321
Applications 9
Robot on the Leash—An Intuitive Inexpensive Interface for Robots Using the NintendoWii Remote 323
Introduction 323
Related Work 324
Concept of the Interface 325
Nintendo Wii Remote 325
Technical Implementation 326
Experimental Setup 330
User Trails and Results 330
Conclusions 332
References 332
Robot Basketball :Ball Dribbling—A Modified Juggling Task 334
Introduction 334
System Model 336
Control Design 338
A comparison of the Classic Juggling and the Dribbling Task 339
Experimental Evaluation 341
Conclusion and Future Work 343
References 343
Research on Exoskeletons at the TU Berlin 346
Introduction 346
Exoskeletons for the Hand 347
Lower Extremities 351
Work in Progress: Arm Exoskeletons for Multimodal Human-Computer Interaction 354
Summary and Conclusion 355
References 355
Hard- and Software Architecture of a Small Autonomous Underwater Vehicle for Environmental Monitoring Tasks 358
Introduction 358
Hardware Architecture 359
Software Architecture 364
Behaviour 364
Conclusions 366
Future Works 367
References 367
Author Index 368