Research and Education in Robotics: EUROBOT 2008 (eBook)

Title Page 2
Preface 5
Organization 6
Table of Contents 7
Adaptive Robot to Person Encounter by Motion Patterns 9
Introduction 9
Materials and Methods 10
Evaluating Person Interest 10
Adapting Robot Behavior 13
Experimental Setup 14
Results 14
Discussion 17
Conclusion 17
References 18
Design of Multi-segment Humanoid Robot Foot 20
Introduction 20
Human Foot Anatomy 21
Foot Mechanical Design 22
Actuation 23
Ground Reaction Force Sensing 25
Conclusion 25
References 26
Software-Hardware Mapping in a Robot Design 27
Introduction 27
Original Design 27
Hardware Changes 31
Software Changes 32
The Results 35
Conclusion 36
References 36
The Huggable Robot Probo, a Multi-disciplinary Research Platform 37
Introduction 37
Concept Probo 38
Operational Goals 38
Huggable Imaginary Robot Animal 38
Multi-disciplinary Robotic User Interface 40
Actuated Robot Head 41
Expression of Emotions 41
Active Vision System 41
Attractive Trunk 43
Recognition Tests 44
Emotional Interface 45
Conclusion 47
References 48
Comparison of PID and Fuzzy Logic Controllers in Humanoid Robot Control of Small Disturbances 50
Introduction 50
Description of Mechanical Structures of the Mechanism 51
Simulation Experiment 53
Description of Experiment and Control System for Dynamic Balance 54
PID and Fuzzy Regulator 56
Results 59
Conclusion 60
References 60
A Java-Based Framework for the Programming of Distributed Systems for Mobile Robots 62
Introduction 62
Related Research 63
Discussion of Existing Software Frameworks 64
Software Architecture 65
Roblets 66
Modules 67
Units 67
Platform Independence 68
Roblet Application 69
Interaction with the Environment 72
Grasping and Transportation 73
Conclusion 73
References 74
Wheeeler – Hypermobile Robot 76
Introduction 76
Wheeeler Design 77
Simulation 78
Concept of Wheeeler 78
Mechanical Details 80
Control 82
Follow the Leader Approach 83
Sensor Fusion 84
Communication Layer 84
Controllers 87
Experiments 88
Conclusions 89
References 90
The qfix Robot Kits 92
Introduction 92
Crash-Bobby – A Differential Drive Robot Kit 92
The $qfix$ Modules 93
Mechanics 94
Electromechanics/Electronics 94
Software 97
Graphical Programming Environment GRAPE 99
Experiments 100
Offroad Robot 101
Soccer Robot 101
Conclusion 102
References 103
Pilot Study of Person Robot Interaction in a Public Transit Space 104
Introduction 104
Methods 106
Experimental Setup 106
Evaluation Methods 107
Results and Observations 108
Person Detection and Robot Controller 108
Answers to Questionnaire 109
Observations 110
Discussion 111
People Detection 111
Quantitative Evaluation 111
Conclusion 112
References 113
A Mobile Robot for EUROBOT Mars Challenge 115
Introduction 115
EUROBOT 115
Project Goal 116
Paper Structure 116
Robot Overview 116
Motion 118
Extractor 119
Localization 120
Collision Avoidance 121
Planning 122
Testing and Competing 123
Testing 123
Competition 125
Conclusion 125
References 126
The Fly Algorithm for Robot Navigation 127
Introduction 127
Reconstruction 3D 127
Evolutionary Algorithms 128
The Fly Algorithm 128
Results 130
Pair of Stereo Images 131
Image Sequence: Robot Navigation 132
Conclusions 134
References 134
Scarabaeus: A Walking Robot Applicable to Sample Return Missions 136
Introduction 136
Mechanics 137
Electronics 137
Control Software 138
Visual Object Position Detection 139
Tactile Object Contact Detection 139
Conclusion and Outlook 140
Bibliography 141
Cybertech Robotic Competition 142
Introduction 142
The Competition 143
Maze Event 143
Line Following Event 143
Solar Cars Event 144
Simulated Robots Event 145
Bullfighting Event 145
Bullfighting Event Rules 147
The Related Course 148
The International Course 150
Results and Conclusions 151
References 152
Robotics Exhibits for Science Centres. Some Prototypes 153
Introduction 153
Towards Autonomous and Adaptive Robots 155
Extending Our Sensory-Motor Apparatus through an Artificial Body (Telerobotics) 155
Putting Our Intelligence in an Artificial Mind (Programming a Robot/Cognitive Robotics) 157
Training/Breeding an Artificial Organism (Adaptive Robotics) 157
Looking after Artificial Organisms to Produce Collective Intelligence (Swarm Robotics) 160
Conclusions 162
References 163
Quantitative Cognitics and Agility Requirements in the Design of Cooperating Robots 164
Introduction 164
Knowledge Estimation in Presence of Errors 166
Cognitive Quantities in Perception, Decision and Action Processes 167
Behavioral Stability of Groups 167
Necessity of Time Modelling and Time Reference in Complex, Distributed, Multi-agent Systems 168
Case Study – Quantitative Assessment of Cognitive Performance Levels for a Mobile, Cooperating Robot, in Domestic Environment 169
Conclusion 173
References 174
Assembly of Fuel Cells and Stacks with Robots 176
Introduction 176
Automatic Joining of the Fuel Cell 176
Construction of PEM Fuel Cell Stacks 180
Economic Effects on Production 183
Future Perspective 186
List of Literature 187
Grape – Graphical Robot Programming for Beginners 188
Introduction 188
Grape 189
Classes and Objects 190
Graphical Programming 190
Dialog-Based Implementation 192
Internal Representations 193
Class Representation 193
Flow-Chart Representation 194
Code Representation 195
Code Generation 195
Tools 196
Experiments 198
Conclusion 200
Open Work 200
References 200
Robotic Exploration of Planetary Surfaces – Rover Technologies Developed for Space Exploration 201
Introduction 202
Mobility for Space Exploration Missions 203
Rover Technology for Science Missions 203
Microrover Nanokhod for the Mercury Surface Exploration 204
Mercury Mission Profile 205
Design Drivers Resulting from the Mercury Mission Scenario 205
Overview of the Nanokhod Design 206
Conclusions for the Microrover 207
Minirover Concept Solero for Regional Exploration 208
Solero Requirements 208
Solero Flight Concept for Mars 209
The Solero Chassis Concept 209
Conclusions for the Solero Minirover 210
ExoMars Breadboard for European Mars Mission 211
ExoMars Breadboard Design 211
Conclusions for the ExoMars Breadboards 212
Conclusion 213
References 214
Author Index 215