| 1. |
- Iagnemma, Karl, 1972-, et al.
(författare)
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On-Line Terrain Parameter Estimation for Planetary Rovers
- 2002
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Ingår i: Proceedings. - Piscataway, NJ : IEEE Press. - 0780372727 ; , s. 3142-3147
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Konferensbidrag (refereegranskat)abstract
- Future planetary exploration missions will require rovers to traverse very rough terrain with limited human supervision. Wheel-terrain interaction plays a critical role in rough-terrain mobility. In this paper an on-line estimation method that identifies key terrain parameters using on-board rover sensors is presented. These parameters can be used for accurate traversability prediction or in a traction control algorithm. These parameters are also valuable indicators of planetary surface soil composition. Simulation and experimental results show that the terrain estimation algorithm can accurately and efficiently identify key terrain parameters for loose sand.
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| 2. |
- Olsson, Tomas, et al.
(författare)
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Force Control and Visual Servoing Using Planar Surface Identification
- 2002
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Ingår i: Proceedings. ICRA '02.. - 0780372727 ; 4, s. 4211-4216
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Konferensbidrag (refereegranskat)abstract
- When designing flexible multi-sensor based robot systems, one important problem is how to combine the measurements fromdisparate sensors such as cameras and force sensors. In this paper,we present a method for combining direct force control and visualservoing in the presence of unknown planar surfaces. The controlalgorithm involves a force feedback control loop and a vision basedreference trajectory as a feed-forward signal. The vision system isbased on a constrained image-based visual servoing algorithm designedfor surface following, wherethe location and orientation of the planar constraint surface is estimated online using position-, force- and visual data.We show how data from a simple and efficient camera calibration method can be used in combination withforce and position data to improve the estimation and referencetrajectories.The method is validated through experiments involving force controlleddrawing on an unknown surface. The robot will grasp a pen and use itto draw lines between a number of markers drawn ona white-board, while the contact force is kept constant. Despite its simplicity, the performance of the method is satisfactory.
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| 3. |
- Petersson, Lars, et al.
(författare)
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Systems integration for real–world manipulation tasks
- 2002
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Ingår i: 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS. - 0780372727 ; , s. 2500-2505
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Konferensbidrag (refereegranskat)abstract
- A system developed to demonstrate integration of a number of key research areas such as localization, recognition, visual tracking, visual servoing and grasping is presented together with the underlying methodology adopted to facilitate the integration. Through sequencing of basic skills, provided by the above mentioned competencies, the system has the potential to carry out flexible grasping for fetch and carry in realistic environments. Through careful fusion of reactive and deliberative control and use of multiple sensory modalities a significant flexibility is achieved. Experimental verification of the integrated system is presented.
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| 4. |
- Robertsson, Anders, et al.
(författare)
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Cascaded Iterative Learning Control for Improved Task Execution of Optimal Control
- 2002
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Ingår i: Proceedings of IEEE International Conferance on Robotics and Automation (ICRA'02). - 0780372727 ; 2, s. 1290-1295
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Konferensbidrag (refereegranskat)abstract
- Iterative learning control (ILC) is used as a means for task execution of a time sub-optimal trajectory. The use of cascaded ILC procedures in a robot application is experimentally shown to drastically enlarge the region of convergence and efficiently compensate for unmodeled dynamics in the motion system. Objectives considered are the duration of motion, maximum liquid slosh during the motion, and the residual slosh after the motion.
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