By Manuel Armada, Pablo González de Santos

ISBN-10: 3540229922

ISBN-13: 9783540229926

ISBN-10: 3540294619

ISBN-13: 9783540294610

The curiosity in mountain climbing and strolling robots (CLAWAR) has remarkably augmented over fresh years. Novel ideas for complicated and extremely assorted software fields (exploration/intervention in serious environments, own providers, emergency rescue operations, transportation, leisure, scientific, etc.), has been expected via a wide development during this zone of robotics. in addition, the amalgamation of unique principles and similar strategies, the hunt for brand spanking new capability functions and using cutting-edge aiding applied sciences enable to foresee an immense leap forward and an important socio-economic influence of complicated robotic expertise within the imminent years. in accordance with the technical demanding situations within the improvement of those refined machines, an important examine and improvement attempt should be undertaken. It issues embedded applied sciences (for energy assets, actuators, sensors, info systems), new layout equipment, tailored keep an eye on recommendations for hugely redundant platforms, in addition to operational and decisional autonomy and human/robot co-existence.
This ebook includes the lawsuits of the seventh mountaineering and strolling Robots 2004 (CLAWAR 2004) convention delivering the overseas clinical group the most first-class boards for teachers, researchers and industrialists drawn to this motivating sector of mountain climbing and jogging robots. It presents a large discussion board of unique cutting-edge contributions from quite a few commercial and new/emerging learn fields, providing an entire photograph of hiking and strolling robots. The convention, held in Madrid, Spain, September 22-24 2004 used to be prepared by way of the Thematic community "CLAWAR 2" and funded by means of the ecu fee below the expansion Programme.

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Additional info for Climbing and Walking Robots: Proceedings of the 7th International Conference CLAWAR 2004

Example text

A pre-programmed object-model is the replicate of what the human vision perceives or has perceived. g. intrinsic and extrinsic parameters of an eye) of a human’s visual perception system is not the same as the ones of a robot’s visual perception system, the problem of consistency of viewing-parameters arises. We believe that this is one of the main obstacles undermining the success of model-based vision. • Autonomous Learning: It refers to a learning process, in which a robot’s vision system autonomously models, optimizes and represents visual objects.

Juv being a time-varying matrix poses a major challenge to the scheme of inner-loop visual servoing [15]. 2 Outer-loop Visual Servoing With the use of binocular vision, we can obtain a constant matrix which relates the variation of image feature(s) to the variation of an end-effector frame’s pose, which could be further related to the variation of joint variables through the pseudo-inverse of differential kinematics. In practice, binocular vision can be mounted on the neck of a humanoid robot as shown in Fig.

The reference frame can be any userspecified coordinate system. If (l u, l v) and (r u, r v) are the coordinates of the projections of point P , onto the two image-planes of a robot’s binocular vision, we have ⎛w ⎞ ⎛l ⎞ X u w ⎜ Y ⎟ ⎟ (13) s1 • ⎝ l v ⎠ = H1 • ⎜ w ⎝ Z⎠ 1 1 and ⎛w ⎞ ⎛r ⎞ X u ⎜ wY ⎟ r ⎜ s2 • ⎝ v ⎠ = H2 • ⎝ w ⎟ Z⎠ 1 1 (14) where s1 and s2 are the unknown scaling factors, and H1 and H2 the calibration matrices of the left and right cameras. In (13), we purposely drop out the unknown scaling factor s1 .

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Climbing and Walking Robots: Proceedings of the 7th International Conference CLAWAR 2004 by Manuel Armada, Pablo González de Santos


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