Catálogo de publicaciones - libros

In this article, we first introduce a new research model proposed by the Science Council of Japan in 1999[1][2]. The model was proposed based on how research is carried out and how the research is integrated with our society as a culture. We consider what the Field and Service Robotics is, and introduce the Service RT Systems as a type of the field and service robots. Several examples illustrate the relation between the RT Systems and the Robotics Research.

After the debut of SDR-3X, SDR-4X made a stage appearance in 2002. It remains a small humanoid type robot and is expanding its capabilities of adaptability in home environment. Some of the new key technologies have been developed for SDR-4X. One is a Real-time Integrated Adaptive Motion Control. Another technology is a motion creating software system called “SDR Motion Creator” which allows to create and develop SDR’s attractive motion performances. In addition, speech synthesis and singing voice production are also developed for enhancement of entertainment applications. A cappella chorus performance and high-tempo dance performance are introduced as the attractive applications.

Autonomous mobile robots navigating in the real world are facing major challenges. They are expected to adapt best to different environments, interact with them and cope with sensor noise and incomplete information. Some important competencies of mobile robots, including locomotion, environment representation and navigation are discussed in this paper. Two research examples of our Lab demonstrate the application of this concepts: Innovative wheel-based locomotion concepts for rough terrain and a family of 11 tour guide robots with 5 month of operational experience.

In 1999 the German Federal Government launched six major strategic collaborative research projects on Human Technology Interaction, which involved 102 research partners and a funding volume of 82 million. The results of these projects were expected to allow people to control technical systems multimodally by using natural forms of interaction such as speech, gestures, facial expressions, touch and visualization methods and to apply such systems for the most varied purposes in their private and working environments. The ambitious research goals were achieved with prototypes for real-world applications. Research activities have resulted in 116 patent applications, 56 spin-off products and 13 spinoff companies as well as 860 scientific publications.

The paper discusses a new hybrid navigation strategy for mobile robots operating in indoor environment using the Information Assistant (IA) system and the Optical Pointer (OP). For intelligent navigation, the robots need a static and global information describing a topological map such as positional relation from any starting position to any goal position for making a path plan as well as dynamic and local information including local map, obstacles, traffic information for navigation control. We propose a method for managing the information. The robot has only rough path information to the goal, and the IAs, which are small communication devices installed in the environment, manage real environment information, locally. The OP is used for guidance of a robot in the junctions such as crossing, which communicates with mobile robots through IA and indicates their target positions by means of a light projection from a laser pointer onto the ground. The mobile robot allows it and run after the laser light beacon and reaches the destination. The robot can navigate to the goal efficiently by using these systems.

This paper presents a new wall-following algorithm for reactive navigation. It is based upon constrained active contours in a repulsive potential field. The development of this algorithm was initiated by the need for robust and efficient software for the navigation of large underground autonomous vehicles.

In this paper, we present a method which allows pose stabilization of a car-like vehicle to a learnt location based on feature bearing angle and range discrepancies between the vehicle’s current view of the environment, and that at the learnt location. We then extend the technique to include obstacle avoidance. Simulations and experimental results using our outdoor mobile platform are presented.

An approach to motion planning among moving obstacles is presented, whereby obstacles are modeled as intelligent decision-making agents. The decision-making processes of the obstacles are assumed to be similar to that of the mobile robot. A probabilistic extension to the velocity obstacle approach is used as a means for navigation as well as modeling uncertainty about the moving obstacles’ decisions.

Current methods for off-road navigation using vehicle and terrain models to predict future vehicle response are limited by the accuracy of the models they use and can suffer if the world is unknown or if conditions change and the models become inaccurate. In this paper, an adaptive approach is presented that closes the loop around the vehicle predictions. This approach is applied to an autonomous vehicle driving through unknown terrain with varied vegetation. Features are extracted from range points from forward looking sensors. These features are used by a locally weighted learning module to predict the load-bearing surface, which is often hidden by vegetation. The true surface is then found when the vehicle drives over that area, and this feedback is used to improve the model. Results using real data show improved predictions of the load-bearing surface and successful adaptation to changing conditions.

This paper presents a novel method for incorporating unstructured, natural terrain information into the process of tracking of underwater vehicles. Terrain-aided navigation promises to revolutionise the ability of marine systems to track underwater bodies in deepwater applications. This work represents a crucial step in the development of underwater technologies capable of long-term, reliable deployment. A particle based estimator is used to incorporate observations of altitude into the estimation process using a priori map information. Results of the application of this technique to the tracking of a towed body and a ship operating in Sydney Harbour are shown.