| 1. |
- Buschka, Pär, et al.
(författare)
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A virtual sensor for room detection
- 2002
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Ingår i: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems. - 0780373987 ; , s. 637-642
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Konferensbidrag (refereegranskat)abstract
- Indoor environments typically consist of sets of connected room-like spaces. We present a local technique that uses range data to detect these spaces during navigation. Our technique includes two parts: segmentation, which isolates room-like spaces and detects when the robot has entered a new one; and feature extraction, which associates each space with a set of geometric features useful for navigation or recognition. Many such features can be considered: here we propose a new method to compute width and length of a rectangular room in a way which is largely invariant with respect to the configuration of the furniture. We report experimental results that show the performance of our technique, and hint at a possible use of this technique for coarse localization on a topological map
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| 2. |
- Calugi, Francesco, et al.
(författare)
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Output Feedback Adaptive Control of Robot Manipulators Using Observer Backstepping
- 2002
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Ingår i: IEEE/RSJ International Conference on Intelligent Robots and System, 2002. - 0780373987 ; 3, s. 2091-2096
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Konferensbidrag (refereegranskat)abstract
- In this paper we present an observer-based adaptive control scheme for robot manipulators, for which we have both unmeasured velocity and uncertain parameters. Using the observer back-stepping method, a reduced-order adaptive velocity observer can be designed independently from the state-feedback controller, which uses damping terms to compensate the presence of the estimation error in the tracking error dynamics. The resulting closed-loop system is semiglobally asymptot-ically stable with respect to the estimation error and tracking errors. Furthermore a simulated example shows the performance of the control scheme applied to a two-link manipulator.
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| 3. |
- Wasik, Zbigniew, et al.
(författare)
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A fuzzy behavior-based control system for manipulation
- 2002
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Ingår i: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002. - 0780373987 ; , s. 1596-1601
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Konferensbidrag (refereegranskat)abstract
- Behavior-based approaches to robot control are extremely popular in mobile robotics, but still rarely used for manipulation. We propose a behavior-based system that performs manipulation tasks using visual feedback. The distinctive points of our proposal are: (i) visual behaviors are implemented using a new camera-based approach; (ii) reactive fuzzy rules are used to arbitrate behaviors; and (iii) the outputs of concurrent behaviors are fused using fuzzy logic. We show experiments on a real arm performing a pick-and-place task that illustrate our approach and demonstrate its advantages over current approaches.
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| 4. |
- Wernersson, Åke, et al.
(författare)
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Robust colour range sensing for robotic applications using a stereoscopic light stripe scanner
- 2002
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Ingår i: Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems. - : IEEE Communications Society. - 0780373987 ; , s. 86-91
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Konferensbidrag (refereegranskat)abstract
- This paper presents an integrated, low-level approach to removing sensor noise, cross talk, spurious specular reflections, and solving the association problem in a light stripe scanner. Most single-camera scanners rely on the laser brightness exceeding that of the entire image. Our system uses two cameras to measure the stripe and combines knowledge of the light plane orientation to produce useful validation properties. The key result is the development of a condition relating image plane measurements and camera intrinsic parameters, which allows validationlassociation to be performed independently of 3D reconstruction. The same equations are used to improve ranging accuracy compared to single-camera systems. We also show how the system may be self-calibrated using measurements of an arbitrary nonplanar target. As validation allows operation in ambient light, registered colour and range are captured in the same sensor. An experimental scanner demonstrates the effectiveness of the proposed techniques.
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