3d Position Tracking And Control For All Terrain Robots
Download 3d Position Tracking And Control For All Terrain Robots PDF/ePub or read online books in Mobi eBooks. Click Download or Read Online button to get 3d Position Tracking And Control For All Terrain Robots book now. This site is like a library, Use search box in the widget to get ebook that you want.
If the content 3d Position Tracking And Control For All Terrain Robots not Found or Blank , you must refresh this page manually. This site does not store any files on its server. We only index and link to content provided by other sites.3d Position Tracking And Control For All Terrain Robots
How to Download or Read Online
Download 3d Position Tracking And Control For All Terrain Robots PDF/ePub, Mobi eBooks by Click Download or Read Online button. Instant access to millions of titles from Our Library and it’s FREE to try! All books are in clear copy here, and all files are secure so don't worry about it.
3d Position Tracking And Control For All Terrain Robots
ACCESS HERE
Author : Pierre Lamon
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-04-25
3d Position Tracking And Control For All Terrain Robots written by Pierre Lamon and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-04-25 with Technology & Engineering categories.
Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. This book demonstrates how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. Although the selection of appropriate sensors is crucial to accurately track the rover’s position, it is not the only aspect to consider. Indeed, the use of an unadapted locomotion concept severely affects the signal to noise ratio of the sensors, which leads to poor motion estimates. In this work, a mechanical structure allowing smooth motion across obstacles with limited wheel slip is used. In particular, it enables the use of odometry and inertial sensors to improve the position estimation in rough terrain. A method for computing 3D motion increments based on the wheel encoders and chassis state sensors is developed. Because it accounts for the kinematics of the rover, this method provides better results than the standard approach. To further improve the accuracy of the position tracking and the rover’s climbing performance, a controller minimizing wheel slip is developed. The algorithm runs online and can be adapted to any kind of passive wheeled rover. Finally, sensor fusion using 3D-Odometry, inertial sensors and visual motion estimation based on stereovision is presented. The experimental results demonstrate how each sensor contributes to increase the accuracy and robustness of the 3D position estimation.
3d Position Tracking And Control For All Terrain Robots
ACCESS HERE
Author : Pierre Lamon
language : en
Publisher: Springer
Release Date : 2008-02-12
3d Position Tracking And Control For All Terrain Robots written by Pierre Lamon and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-02-12 with Technology & Engineering categories.
Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. This book demonstrates how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. Although the selection of appropriate sensors is crucial to accurately track the rover’s position, it is not the only aspect to consider. Indeed, the use of an unadapted locomotion concept severely affects the signal to noise ratio of the sensors, which leads to poor motion estimates. In this work, a mechanical structure allowing smooth motion across obstacles with limited wheel slip is used. In particular, it enables the use of odometry and inertial sensors to improve the position estimation in rough terrain. A method for computing 3D motion increments based on the wheel encoders and chassis state sensors is developed. Because it accounts for the kinematics of the rover, this method provides better results than the standard approach. To further improve the accuracy of the position tracking and the rover’s climbing performance, a controller minimizing wheel slip is developed. The algorithm runs online and can be adapted to any kind of passive wheeled rover. Finally, sensor fusion using 3D-Odometry, inertial sensors and visual motion estimation based on stereovision is presented. The experimental results demonstrate how each sensor contributes to increase the accuracy and robustness of the 3D position estimation.
Modeling And Control For Efficient Bipedal Walking Robots
ACCESS HERE
Author : Vincent Duindam
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-01-17
Modeling And Control For Efficient Bipedal Walking Robots written by Vincent Duindam and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-01-17 with Technology & Engineering categories.
By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityofthe?eldandtheadvancesinitsrelatedtechnologies.From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities,providingsupportinservices,entertainment,education,heal- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse researchareas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi?cance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.
Incremental Learning For Motion Prediction Of Pedestrians And Vehicles
ACCESS HERE
Author : Alejandro Dizan Vasquez Govea
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-06-23
Incremental Learning For Motion Prediction Of Pedestrians And Vehicles written by Alejandro Dizan Vasquez Govea and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-06-23 with Technology & Engineering categories.
This book focuses on the problem of moving in a cluttered environment with pedestrians and vehicles. A framework based on Hidden Markov models is developed to learn typical motion patterns which can be used to predict motion on the basis of sensor data.
Robotic Systems For Handling And Assembly
ACCESS HERE
Author : Daniel Schütz
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-11-20
Robotic Systems For Handling And Assembly written by Daniel Schütz and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-11-20 with Technology & Engineering categories.
Although parallel robots are known to offer many advantages with respect to accuracy, dynamics, and stiffness, major breakthroughs in industrial applications have not yet taken place. This is due to a knowledge gap preventing fast and precise execution of industrial handling and assembly tasks. This book focuses on the design, modeling, and control of innovative parallel structures as well as the integration of novel machine elements. Special attention is paid to the integration of active components into lightweight links and passive joints. In addition, new control concepts are introduced to minimize structural vibrations. Although the optimization of robot systems itself allows a reduction of cycle times, these can be further decreased by improved path planning, robot programming, and automated assembly planning concepts described by 25 contributions within this book. The content of this volume is subdivided into four main parts dealing with Modeling and Design, System Implementation, Control and Programming as well as Adaptronics and Components. This book is aimed at researchers and postgraduates working in the field of parallel robots as well as practicing engineers dealing with industrial robot development and robotic applications.
Motion Planning In Medicine Optimization And Simulation Algorithms For Image Guided Procedures
ACCESS HERE
Author : Ron Alterovitz
language : en
Publisher: Springer
Release Date : 2008-09-20
Motion Planning In Medicine Optimization And Simulation Algorithms For Image Guided Procedures written by Ron Alterovitz and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-09-20 with Technology & Engineering categories.
Written by Ron Alterovitz and Ken Goldberg, this monograph combines ideas from robotics, physically-based modeling, and operations research to develop new motion planning and optimization algorithms for image-guided medical procedures.
Random Finite Sets For Robot Mapping Slam
ACCESS HERE
Author : John Stephen Mullane
language : en
Publisher: Springer
Release Date : 2011-05-19
Random Finite Sets For Robot Mapping Slam written by John Stephen Mullane and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-05-19 with Technology & Engineering categories.
The monograph written by John Mullane, Ba-Ngu Vo, Martin Adams and Ba-Tuong Vo is devoted to the field of autonomous robot systems, which have been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the problem of representing the environment and its uncertainty in terms of feature based maps. Random Finite Sets are adopted as the fundamental tool to represent a map, and a general framework is proposed for feature management, data association and state estimation. The approaches are tested in a number of experiments on both ground based and marine based facilities.