By Marc Freese, Surya P. N. Singh, William Singhose, Edwardo F. Fukushima, Shigeo Hirose (auth.), Andrew Howard, Karl Iagnemma, Alonzo Kelly (eds.)
ISBN-10: 3642134076
ISBN-13: 9783642134074
ISBN-10: 3642134084
ISBN-13: 9783642134081
The 7th variation of box and repair Robotics, edited through Andrew Howard, Karl Iagnemma and Alonzo Kelly, bargains an 11 bankruptcy choice of a extensive variety of themes spanning: layout, notion and keep watch over; monitoring and sensing; localization and mapping; multi-robot cooperation and human-robot interplay; mining, maritime and planetary robotics. The volume's forty-five contributions symbolize a cross-section of the present kingdom of robotics study from one specific element: box and repair functions. Pursuing applied sciences geared toward understanding robots working in advanced and dynamic environments, in addition to robots operating heavily with people, is the overarching subject matter working all through this collection.
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Additional info for Field and Service Robotics: Results of the 7th International Conference
Sample text
In this case, a scan correlation based method is used for short term sensor-based dead reckoning. There are numerous different scan correlation methods available to be used to sensor-based dead reckoning. The Iterative Closest Point (ICP) and Sum of Gaussian (SoG) methods are among the most popular. g. by Bailey [1]. Scan correlation is not enough to combine rotating 3D scanner measurements into meaningful tree measurement data. A SLAM based approach to harvester head localization is used to calculate head movement and combine measurements together.
The method combines 2D laser localization with IMU measured pose information and height from the 3D scanner system to calculate 6 degrees of freedom (DOF) movement of the head and measurement data of the tree stem. The research with laser scanners, scan correlation and SLAM presented here is continuation to the work done in the Forestrix project [5, 8, 9]. Different filtering methods have been tested to provide the best possible 6DOF movement but the work is still in progress. Tree stem 3D scanner measurement is studied to get parameters like height of crown base, taper, sweep, trunk dimensions, branches and lean.
The dimensioning of the actuators of the manipulator took into account lifting the counter-weight when the manipulator is in a vertical configuration, something that does not happen in real applications, but which may happen during tests. Fig. 3 Friction experimental setup (left) and results from experiments (right). Expliner – Toward a Practical Robot for Inspection of High-Voltage Lines 49 Fig. 4 Sliding joint for easy assembly. Structure The structure of Expliner is composed mainly of CFRP pipes, and they were designed to withstand the extreme postures required when overcoming obstacles.
Field and Service Robotics: Results of the 7th International Conference by Marc Freese, Surya P. N. Singh, William Singhose, Edwardo F. Fukushima, Shigeo Hirose (auth.), Andrew Howard, Karl Iagnemma, Alonzo Kelly (eds.)
by Robert
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