By Raja Chatila, Simon Lacroix, Michel Devey, Thierry Siméon (auth.), Professor Anibal T. de Almeida, Professor Oussama Khatib (eds.)
This e-book constitutes the shows made on the complicated examine Workshop on independent robot platforms, which used to be held on the college of Coimbra, Portugal, June 1997. the purpose of the assembly was once to compile prime researchers within the quarter of self reliant platforms for mobility and manipulation, and the purpose of this booklet is to percentage the shows with the reader. The booklet provides the newest advancements within the box. themes comprise sensors and navigation in cellular robots, robotic co-operation, telerobotics, legged robots, hiking robots and purposes. latest and rising functions of self sufficient syst ems are defined in nice aspect, together with functions in forestry, cleansing, mining, tertiary structures, suggestions to the aged and handicapped, and surgical procedure. The chapters are written in a based and complex instructional type via best experts from Europe, Australia, Japan and united states. the fashion will enable the reader to understand the state of the art and examine instructions within the quarter of independent systems.
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Extra resources for Autonomous Robotic Systems
The active vision system has two CCD monochromatic video cameras with motorized lenses (allowing for the control of the iris, focus and zoom) and five step motors that confer an equal number of degrees of freedom to the system (vergence of each camera, baseline shifting, head tilt and neck pan). The Master Processing Unit is responsible for the control of the degrees of freedom of the active vision system (using step motor controllers) and for the communication with the mobile platform (using a serial link).
A . f~ _ Vz" f~ "Y (28) _ Z Z2 where (f~, fy) represents the focal length of the lens in pixels and V = [ vx vy v~ represent the velocity of the point P = [ x y z in the camera coordinate system due to the egomotion of the head. This velocity V results from the combination of several joints rotation (eye, tilt, swing and pan) and is defined as: V = V~ye+ Vti~t + Vswin~ + Vp~n. Representing the velocity induced by each joint by Vr~f = - V r T ~ s - f ~ A P and since each joint only performs rotations ( V T ~ = 0), the velocity induced by each joint can be expressed as V~e/= -f~ A P.
Actually the final position corresponds to the middle point between these two positions. 3. 3. 5. S y s t e m State The system state used for control is described by two variables: the distance D from the system to the target and the angle On of the neck pan, defined when the vision system is fixated on the target. Both variables have values that can be obtained by the geometry of the system and are described by equations (5). These two quantities are continuously estimated by using a fixed coefficient 36 filter: the (a-/3-7) tracker.
Autonomous Robotic Systems by Raja Chatila, Simon Lacroix, Michel Devey, Thierry Siméon (auth.), Professor Anibal T. de Almeida, Professor Oussama Khatib (eds.)