Cutting Edge Robotics

2005·28.1 MB·English

by  Vedran Kordic

Cutting
Edge
Robotics

Cutting
Edge
Robotics
Edited by
Vedran Kordic
Aleksandar Lazinica
Munir Merdan
pro literatur Verlag
Published by the plV pro literatur Verlag Robert Mayer-Scholz
plV pro literatur Verlag Robert Mayer-Scholz
Mammendorf
Germany
Abstracting and non-profit use of the material is permitted with credit to the source. Statements and opinions
expressed in the chapters are these of the individual contributors and not necessarily those of the editors or
publisher. No responsibility is accepted for the accuracy of information contained in the published articles.
Publisher assumes no responsibility liability for any damage or injury to persons or property arising out of the
use of any materials, instructions, methods or ideas contained inside. After this work has been published by the
Advanced Robotic Systems International, authors have the right to republish it, in whole or part, in any
publication of which they are an author or editor, and the make other personal use of the work.
© 2005 Advanced Robotic Systems International
www.ars-journal.com
Additional copies can be obtained from:
[e-mail]
First published 2005
Typeface Book Anitqua 10/14 pt.
Printed in Croatia
A catalog record for this book is available from the German Library.
Cutting Edge Robotics / edited by Vedran Kordic, Aleksandar Lazinica, Munir Merdan.
p. cm.
ISBN 3-86611-038-3
1. Robotics. 2. Artificial Intelligence. 3. Mechatronics I. Kordic, Vedran. II. Lazinica, Aleksandar. III.
Merdan, Munir
Contents
Preface
IX
I. Modelling & Design
1. Dynamic Modelling and Adaptive Traction Control for Mobile robots 3
Abdulgani Albagul, Wahyudi Martono & Riza Muhida
2. Rapid Prototyping for Robotics 17
Imme Ebert-Uphoff, Clement M. Gosselin, David W. Rosen & Thierry Laliberte
3. The Role of 3D Simulation in the Advanced Robotic Design, Test and Control 47
Laszlo Vajta & Tamas Juhasz
4. Mechatronics Design of a Mecanum Wheeled Mobile Robot 61
Peter Xu
II. Perception
1. Tracking Skin-Colored Objects in Real-time 77
Antonis A. Argyros & Manolis I.A. Lourakis
2. Feature Extraction and Grouping for Robot Vision Tasks 91
Miguel Cazorla & Francisco Escolano
3. Comparison of Demosaicking Methods for Colour Information Extraction 105
Flore Faille
4. Robot Motion Trajectory-Measurement with Linear Inertial Sensors 115
Bernard Favre-Bulle
5. Supervisory Controller for Task Assignment and Resource Dispatching in 133
Mobile Wireless Sensor Networks
Vincenzo Giordano, Frank Lewis, Prasanna Ballal & Biagio Turchiano
6. Design of a Generic, Vectorised, Machine-Vision Library 153
Bing-Chang Lai & Phillip John McKerrow
7. An Active Stereo Vision-Based Learning Approach for Robotic Tracking, 175
Fixating and Grasping Control
Nan-Feng Xiao & Saeid Nahavandi
V
III. Navigation
1. Managing Limited Sensing Resources for Mobile Robots Obstacle Avoidance 185
Juan Carlos Alvarez, Rafael C. Gonzalez, Diego Alvarez & Antonio M. Lopez
2. Behaviour Based Mobile Robot Navigation with Dynamic Weighted Voting 201
Technique
Shamsudin H.M. Amin, Rosbi Mamat & Tan Chee Kwong
3. Stochastic State Estimation for Simultaneous Localization and Map Building 223
in Mobile Robotics
Juan Andrade-Cetto, Teresa A. Vidal-Calleja & Alberto Sanfeliu
4. Neural Networks in Mobile Robot Motion 243
Danica Janglova
3.Generating Timed Trajectories for Autonomous Robotic Platforms: A Non- 255
Linear Dynamical Systems Approach
Cristina Manuela Peixoto dos Santos
4. Coevolution Based Adaptive Monte Carlo Localization 279
Luo Ronghua, Hong Bingrong &Li Maohai
6. Autonomous Navigation of Unmanned Vehicles: A Fuzzy Logic Perspective 291
Nikos C. Tsourveloudis, Lefteris Doitsidis & Kimon P. Valavanis
IV. Adaptive and Learning Systems
1. Integrating Behaviors for Mobile Robots: An Ethological Approach 311
Jose Maria Canas Plaza & Vicente Matellan Olivera
2. Stabilization of Fuzzy Takagi-Sugeno Descriptor Models. Application to a 331
Double Inverted Pendulum
Thierry Marie Guerra , Sebastien Delprat & Salim Labiod
3. Adaptive Control of Nonlinear Dynamics Systems Based on Rbf Network 347
Ho Dac Loc, Nguyen Thi Phuong Ha & Luong Van Lang
4. Multi-Layered Learning System for Real Robot Behavior Acquisition 357
Yasutake Takahashi & Minoru Asada
V. Multi-Robot Systems
1. The Design of a Pair of Identical Mobile Robots to Investigate Cooperative 377
Behaviours
Dale. A. Carnegie, Andrew Payne & Praneel Chand
2. Cooperative Hunting by Multiple Mobile Robots Based on Local Interaction 397
Zhi-Qiang Cao, Min Tan, Saeid Nahavandi & Nong Gu
3. Market-Driven Multi-Agent Collaboration in Robot Soccer Domain 407
Hatice Kose, Kemal Kaplan, Cetin Mericli, Utku Tatlidede & Levent Akin
VI
4. The SocRob Project: Soccer Robots or Society of Robots 417
Pedro U. Lima & Luis M. M. Custodio
5. RoboCup is a Stage Which Impulse the Research of Basic Technology in 433
Robot
Cheng Xian-yi & Xia De-shen
VI. Human-Robot Interaction
1. A Multi-Robot System Architecture for Trajectory Control of Groups of 449
People
Edgar A. Martinez-Garcia, Akihisa Ohya & Shinichi Yuta
2. Sharing and Trading in a Human-Robot System 467
Kai Wei Ong, Gerald Seet & Siang Kok Sim
VII. Service Robotics
1. A Robotic System for Volcano Exploration 499
Daniele Caltabiano & Giovanni Muscato
2. A Simulator for Helping in Design of a New Active Catheter Dedicated to 519
Coloscopy
Georges Dumont & Christofer Kuehl
3. Development of a Range of Robot and Automation Prototypes for Service 533
Applications
Bing Lam Luk, Alexandar Djordjevich, Shiu Kit Tso & King Pui Liu
VIII. Legged Robots
1. Legged Robotic Systems 553
Giuseppe Carbone & Marco Ceccarelli
2. Humanoid Robot Motion in Unstructured Environment – Generation of 577
Various Gait Patterns from a Single Nominal
Miomir Vukobratovic, Dejan Andric & Branislav Borovac
IX. Robot Manipulators
1. Trajectory Planning of a Constrained Flexible Manipulator 601
Atef A. Ata & Habib Johar
2. Position/Force Hybrid Control of a Manipulator with a Flexible Tool Using 611
Visual and Force Information
Jian Huang, Isao Todo & Tetsuro Yabuta
3. A Novel Parallel Engraving Machine Based on 6-PUS Mechanism and 629
Related Technologies
Kong Ling-fu & Zhang Shi-hui
VII
4. Pose Estimating the Human Arm using Kinematics And the Sequential 649
Monte Carlo Framework
Thomas Moeslund
5. Cartesian Impedance Control of Flexible Joint Robots: A Decoupling 671
Approach
Christian Ott, Alin Albu-Schaeffer, Andreas Kugi & Gerd Hirzinger
6. Collision-Free Path Planning in Robot Cells Using Virtual 3D Collision 683
Sensors
Tomislav Reichenbach & Zdenko Kovacic
X. Mechatronics
1. Exploring Open-Ended Design Space of Mechatronic Systems 707
Zhun Fan, Jiachuan Wang & Erik Goodman
2. Online Identification for the Automated Threaded Fastening Using GUI 727
Format
Nicola Ivan Giannoccaro & Mongkorn Klingajay
4. Multilevel Intelligent Control of Mechatronical Technological Systems 745
Tugengold Andrei Kirillovich, Ryzhkin Anatoliy Andreevich, Lukianov Evjeny
Anatolievich & Wojciechowicz Boleslaw
5. A Robot System for High Quality Belt Grinding and Polishing Processes 755
Bernd Kuhlenkoetter & Xiang Zhang
3. Reconfigurable Mechatronic Robotic Plug-and-Play Controller 771
Johan Potgieter, Jonathan Zyzalo & Olaf Diegel
VIII
Preface
Robotics research, especially mobile robotics is a young field. Its roots include many
engineering and science disciplines, from mechanical, electrical and electronics
engineering to computer, cognitive and social sciences. Each of this parent fields is exciting
in its own way. Each of the field has its share in different books.
This book is the result of inspirations and contributions from many researchers
worldwide. It presents a collection of wide range research results of robotics scientific
community. Various aspects of current research in robotics area are explored and
discussed. We have tried to investigate the mainly important research areas of the really
wide, wide range or robotic science.
We hope you will enjoy reading the book as much as we have enjoyed bringing it together
for you. The book presents effort by a lot of people. We would like to thank all the
researchers and especially to the chapter authors who entrusted us with their best work. It
is their work that enabled us to collect the material for this book. Of course, great
acknowledgments to the people who had invest their time to review all manuscripts and
choose only the best one.
The short description of every chapter follows.
The book begins with researches in robot modelling & design, in which different
approaches in kinematical, dynamical and other design issues of mobile robots are
discussed. Modelling is a first step in designing a new system; kinematics is the most basic
study of how mechanical systems behave. In mobile robotics, we need to understand the
mechanical behaviour of the robot both in order to design appropriate robots for tasks and
to understand how to create control software for an instance of mobile robot hardware.
This chapter presents different researches in design of various robot systems.
One of the most important tasks of an autonomous system of any kind is to acquire
knowledge about its environment. This is done by taking and extracting information from
measurements of different sensor systems. In second chapter the various sensor systems
are presented, but the major part of the chapter is devoted to robotic vision systems. Why?
Because the vision is most powerful sense in all living beings. It provides the robot with
enormous amount of information about the environment and enables rich, intelligent
interaction in dynamic environments.
Chapter III is devoted to robot navigation and presents different navigation architectures.
The book started with design of robot systems, went through sensors for determining the
robot’s environmental context. We now turn our attention to the robot’s cognitive level.
Cognition generally represents the purposeful decision-making and execution that a
system utilizes to achieve its highest-order goals. The specific aspect of cognition is
navigation competence. Given partial knowledge about its environment and a goal
position or series of positions, navigation encompasses the ability of the robot to act based
IX
on its knowledge and sensor values so as to reach its goal positions as efficiently and as
reliably as possible. Within the mobile robotics research community, a great many
approaches have been proposed for solving the navigation problem. In this chapter, only
some of them are presented.
Biological systems have always been, especially in the latest time, inspiration in designing
the robot systems. Especially in designing the robot cognitive level (robot controllers).
Robots are now capable of learning; various neural and fuzzy systems are incorporated in
their “mind”. The chapter IV is devoted to research on adaptive and learning systems in
mobile robots area.
There are many reasons why designing a multi-robot systems, but the most frequent
answer is that the researchers are able to design more robust and reliable systems by
combining not so reliable but redundant components. This field has been growing
enormously in the last decade. The chapter V speaks about different application areas of
multi-robot systems.
Other emerging field is discussed in chapter VI - the human- robot interaction. HRI is a
cross-disciplinary area, which poses barriers to meaningful research, synthesis, and
technology transfer.
Mobile robots are extensively used in various terrains to handle situations inaccessible to
man. Legged robots in particular are tasked to move in uneven terrain. Hence the primary
problem of these robots is locomotion in an autonomous fashion. Chapter VII gives a great
tutorial on legged robot systems and one research overview on design of a humanoid
robot.
Technical advances in the fields of sensor, control, and drive technology enabled
intelligent robotic systems to be implemented in areas other than industrial production.
The different examples of service robots are showed in chapter VIII.
Chapter IX is oriented to industrial robots, i.e. robot manipulators. Robots are nowadays
primarily used industry and that is a reason to include this chapter in the book. Chapter
gives different research results primarily in control of robot manipulators.
The term "mechatronics" has been used for about 35 years. It is derived from the
observation of the synergy achieved through the integration of mechanical, electrical and
information technologies in the design, manufacture and operation of industrial products
and processes. Synergies may be in terms of performance, physical dimension, cost, power
efficiency, time for development, dealing with complexity, and so on. Different
mechatronic systems oriented on robotics are explored in the last chapter of the book -
chapter X.
X