Skip to main content

Currently Skimming:

Robotics
Pages 85-110

The Chapter Skim interface presents what we've algorithmically identified as the most significant single chunk of text within every page in the chapter.
Select key terms on the right to highlight them within pages of the chapter.


From page 87...
... Neither is it obvious that anthropomorphism is necessary: machines with flapping wings were far less successful at flying than fixed-wing aircraft. The International Standards Organization defines an industrial robot as "an automatically controlled, reprogrammable, multipurpose, manipulator with three or more axes" (IS O 8373)
From page 88...
... Theories from areas such as nonlinear control, Lie algebra, computational geometry, and computational algebra are being applied to such topics as medical and surgical robots, microscale robots, Internet robots, modular robots, and robot toys for education and entertainment. It is impossible to cover all of these frontiers in one session.
From page 89...
... Proceedings of the IEEE International Conference on Robotics and Automation. Washington, D.C.: IEEE Computer Society Press.
From page 90...
... While the latter have full control over the data to which they apply, robot algorithms deal with physical objects that they attempt to control despite the fact that these objects are subject to the independent and imperfectly modeled laws of nature. This leads robot algorithms to blend in a unique way basic control issues (controllability and observability)
From page 91...
... Understanding the intrinsic physical complexity of motion tasks has aided the design of reliable algorithms that induce minimal engineering costs (Canny and Goldberg, 1994; Donald, 1993~. The following focuses on the computational issues of motion planning by examining the basic problem of planning a continuous geometric path between two free configurations of a robot.
From page 92...
... Following the preprocessing phase, multiple path planning queries can be answered. A query asks for a path between two free configurations of the robot.
From page 93...
... 1994. Randomized preprocessing of configuration space for fast path planning.
From page 94...
... Biomimetic locomotion refers to the movement of robotic mechanisms in ways that are analogous to the patterns of movement found in nature. Biomimetic robotic locomotors do not rely on wheels, tracks, jets, thrusters, or propellers for their propulsion.
From page 95...
... To enable future widespread deployment of cheap and robust robotic locomotion platforms, we must ultimately seek a more unifying and comprehensive framework for biomimetic robotic locomotion engineering. This framework should have the following properties: .
From page 96...
... The configuration space of both terrestrial and aquatic biomimetic locomotors is a trivial principal fiber bundle. The importance of the principal fiber bundle structure of the configuration space of locomoting systems is related to the following facts.
From page 97...
... International Journal of Robotics Research 17(7)
From page 98...
... BOWS Rad~rd, Jo Ad ~ Burden 1998. Loch Anon planing for nonbolono~c con-1 systems evolv1ng on pducip~ bundles.
From page 99...
... government has been working on autonomous navigation of robotic vehicles since the 1960s, when the Jet Propulsion Laboratory (JPL) developed a prototype lunar rover for the Surveyor program.
From page 100...
... Nevertheless, this effort made a significant contribution to the field by demonstrating effective application of system dynamics models and Kalman filtering in a computer vision system for autonomous navigation. REAL-TIME 3-D PERCEPTION FOR MARS ROVERS A key breakthrough in 3-D perception for autonomous cross-country navigation came in 1990, when JPL developed efficient and reliable algorithms for estimating elevation maps in real time from stereo image pairs using compact commercial processors onboard a prototype Mars rover (Matthies, 1992~.
From page 101...
... By 1996 the speed of stereo vision systems had increased to about 30,000 range measurements per second, with faster computers that occupied slightly less space. This enabled semiautonomous High Mobility Multipurpose Wheeled Vehicles (HMMWVs)
From page 102...
... Both of these programs will employ stereo vision among their sensor suites for autonomous navigation and will depend on the aforementioned advances in algorithms, low-power CMOS imagers, and high-performance embedded CPUs to provide the increased speed and smaller size required. LIMITATIONS AND APPROACHES TO SOLUTIONS These advances have produced a viable solution to real-time 3-D perception for robotic vehicles operating during the day in barren or semiarid terrain.
From page 103...
... Some of these methods are fairly mature for Earth applications now; methods suitable for Mars rovers will likely come to maturity and be deployed over the next five to seven years. · In terrestrial applications, autonomous navigation among other moving objects requires a significant extension of perception, planning, and local world modeling capabilities beyond that addressed above.
From page 104...
... Proceedings of the Third IEEE Workshop on Applications of Computer Vision. Los Alamitos, Calif.: IEEE Computer Society Press.
From page 105...
... The human operator may be allowed complete freedom of motion of the payload, or in the opposite extreme the payload may be restricted to a single curve through space. Thus, the full versatility of software is available for the production of virtual surfaces and other haptic effects.
From page 106...
... The unicycle cobot displays two essential behaviors: free mode and virtual surface. Free mode is invoked when the cobot's position in its planar workspace is away from all defined constraint surfaces.
From page 107...
... Virtual surface mode is ended when the measured user forces are found to be directed away from the constraint surface, at which point free mode resumes. The unicycle cobot can be generalized to higher dimensions as well as to the revolute architecture characteristic of most industrial robots.
From page 108...
... Virtual surfaces are useful for productivity because an operator can push a payload against a virtual surface and "swoop" around a corner quickly and pleasantly. Virtual surfaces can also be used to prevent collisions in close quarters or assembly operations.
From page 109...
... Free mode and virtual surface mode are but two poles of an unlimited range of haptic effects that can be invented. For instance, a virtual surface may have a "penetration strength" beyond which it gives way, or it may have a simulated attractive potential field, or it may yield compliantly to operator pressure against it.


This material may be derived from roughly machine-read images, and so is provided only to facilitate research.
More information on Chapter Skim is available.