Mobile manipulation: a challenge in integration

Anderson, Cressel; Axelrod, Ben; Case, J. Philip; Choi, Jaeil; Engel, Martin; Gupta, Gaurav; Hecht, Florian; Hutchinson, John F.; Krishnamurthi, Niyant; Lee, Jinhan; Nguyen, Hai; Roberts, Richard; Rogers, John G.; Trevor, Alexander J. B.; Christensen, Henrik I.; Kemp, Charles C.

doi:10.1117/12.777329

“…An absolute positioning system e.g. based on optical, magnetic or RF/radar sensors [2] [3] is required for this kind of TCP localization. Compared to common camera-based positioning systems, RF positioning systems offer several benefits such as: wider aperture angle, good ranging accuracy, and they are less affected by environmental conditions.…”

Section: Introductionmentioning

confidence: 99%

A multilateral synthetic aperture wireless positioning approach to precise 3D localization of a robot tool center point

Li

¹

,

Vossiek

²

2011

2011 IEEE Topical Conference on Wireless Sensors and Sensor Networks

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In this paper, a novel multilateral synthetic aperture secondary radar concept and its application for precise 3D localization of a robot tool center point (TCP) are introduced. A backscatter transponder is attached to the TCP of a robot. Spatially distributed FMCW secondary radar units pick up the backscattered phase coherent transponder signals. Based on assisting relative sensors, a synthetic aperture is created with the TCP. The developed multilateral inverse synthetic aperture reconstruction algorithm then determines a probability density function (PDF) of the spatial transponder position. By simulations and experimental results using a 5.8 GHz system with 140 MHz bandwidth it is shown, that 3D localization precision in the mm range can be achieved with the novel wireless local positioning concept even with narrowband radar systems in dense multipath environments. Heretofore, accuracies of this magnitude were only attainable with ultrawideband (UWB) systems utilizing a ten times wider bandwidth. It is shown, that the multilateral synthetic aperture locating system has the potential for a quantum leap in precise 3D wireless local positioning.Index Terms -synthetic aperture radar, secondary radar, wireless positioning system.

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“…CARDEA uses a behavioural reactive control architecture written in Creal and runs on a custom embedded architecture called Stack. A Segway RMP platform was used at the Georgia Institute of Technology to mobilise a lightweight KUKA KR5 manipulator as shown in Figure 2.15 (Anderson, et al, 2008). The control algorithm used a behaviour based reactive control architecture to locate and deliver a cup of coffee.…”

Section: Previous Segway Platform Projectsmentioning

confidence: 99%

Hybrid Control of a Segway Platform Developed in MRDS

Thomson¹

0

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<p>A Segway RMP200 has been bought by Victoria University for the purpose of making an autonomous robot. The focus of this project was to create reusable services that use existing navigation algorithms to control the Segway within an indoor environment. A SICK LMS100 laser rangefinder was added to detect obstacles and allow localization of the Segway within a known map. A hybrid navigation algorithm consisting of an A* path planner with a dynamic window is used for motion planning and obstacle avoidance. The control system followed a Service Oriented Architecture implemented in Microsoft Robotics Studio using the C# .NET programming language. Four services were created during the project to interface with the SICK LMS100 scanner, control the Segway RMP200, implement the hybrid navigation algorithm and provide a graphic user interface for the system. Tests show that the Segway is able to navigate and maintain localisation within the operating environment by identifying and associating corner and door landmarks within the environment.</p>

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“…CARDEA uses a behavioural reactive control architecture written in Creal and runs on a custom embedded architecture called Stack. A Segway RMP platform was used at the Georgia Institute of Technology to mobilise a lightweight KUKA KR5 manipulator as shown in Figure 2.15 (Anderson, et al, 2008). The control algorithm used a behaviour based reactive control architecture to locate and deliver a cup of coffee.…”

Section: Previous Segway Platform Projectsmentioning

confidence: 99%

Hybrid Control of a Segway Platform Developed in MRDS

Thomson¹

0

View full text Add to dashboard Cite

<p>A Segway RMP200 has been bought by Victoria University for the purpose of making an autonomous robot. The focus of this project was to create reusable services that use existing navigation algorithms to control the Segway within an indoor environment. A SICK LMS100 laser rangefinder was added to detect obstacles and allow localization of the Segway within a known map. A hybrid navigation algorithm consisting of an A* path planner with a dynamic window is used for motion planning and obstacle avoidance. The control system followed a Service Oriented Architecture implemented in Microsoft Robotics Studio using the C# .NET programming language. Four services were created during the project to interface with the SICK LMS100 scanner, control the Segway RMP200, implement the hybrid navigation algorithm and provide a graphic user interface for the system. Tests show that the Segway is able to navigate and maintain localisation within the operating environment by identifying and associating corner and door landmarks within the environment.</p>

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Mobile manipulation: a challenge in integration

Cited by 4 publications

References 13 publications

A multilateral synthetic aperture wireless positioning approach to precise 3D localization of a robot tool center point

A multilateral synthetic aperture wireless positioning approach to precise 3D localization of a robot tool center point

Hybrid Control of a Segway Platform Developed in MRDS

Hybrid Control of a Segway Platform Developed in MRDS

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