Research and Education in Robotics - EUROBOT 2009: International Conference, La Ferté-Bernard, France, May 21-23, 2009, Revised Selected Papers PDF
Preview Research and Education in Robotics - EUROBOT 2009: International Conference, La Ferté-Bernard, France, May 21-23, 2009, Revised Selected Papers
Communications in Computer and Information Science 82 Achim Gottscheber David Obdržálek Colin Schmidt (Eds.) Research and Education in Robotics - EUROBOT 2009 International Conference La Ferté-Bernard, France, May 21-23, 2009 Revised Selected Papers 1 3 VolumeEditors AchimGottscheber SRHUniversityofAppliedSciences ElectricalEngineering,Heidelberg,Germany E-mail:[email protected] DavidObdržálek CharlesUniversity,FacultyofMathematicsandPhysics Malostranskénámeˇstí25,11800Praha,CzechRepublic E-mail:[email protected] ColinSchmidt ParisTechAngers-Laval LaboratoirePresenceetInnovation,ArtsetMétiers,Ingénierium 4ruedel’Ermitage,53000Laval,France E-mail:[email protected] LibraryofCongressControlNumber:2010936712 CRSubjectClassification(1998):I.2,I.2.9,I.4,I.5,J.4,I.6 ISSN 1865-0929 ISBN-10 3-642-16369-6SpringerBerlinHeidelbergNewYork ISBN-13 978-3-642-16369-2SpringerBerlinHeidelbergNewYork Thisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialis concerned,specificallytherightsoftranslation,reprinting,re-useofillustrations,recitation,broadcasting, reproductiononmicrofilmsorinanyotherway,andstorageindatabanks.Duplicationofthispublication orpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965, initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.Violationsareliable toprosecutionundertheGermanCopyrightLaw. springer.com ©Springer-VerlagBerlinHeidelberg2010 PrintedinGermany Typesetting:Camera-readybyauthor,dataconversionbyScientificPublishingServices,Chennai,India Printedonacid-freepaper SPIN: 06/3180 543210 Preface This volume contains the accepted papers presented during the International Conference on Research and Education in Robotics – EUROBOT Conference 2009, held in La Fert´e-Bernard,France, May 21–23,2009. Today, robots are indispensable tools for flexible, automated manufacturing in many areas of industry as well as for the execution of sophisticated or dan- gerous tasks in the nuclear industry, in medicine and in space technology, and last but not least, they are being increasingly used in everyday life. Tofurther encourageresearchinthis area,the EUROBOTConferenceshave beensetup.Theyaimtogatherresearchersanddevelopersfromacademicfields and industries worldwide to explore the state of the art. This conference is ac- companiedbytheEUROBOTContestFinals,aninternationalamateurrobotics contestopentoteams ofyoungpeople.During the finalsin2009,teamsfrom25 countries came together not only to compete, but also to exchange knowledge and ideas and to learn from each other. In addition to the paper and poster presentations, there were two invited talks: – Raja Chatila, Director of the LAAS – CNRS, Toulouse, France whose talk was about “Cognitive Robots” – V´eronigue Raoul, EUROBOT Association, France whose talk was about “EUROBOT” Organizing a conference is a task that requires the collaboration of many peo- ple. We personally would like to warmly thank all members of the EUROBOT Conference2009programcommittee;withouttheirhelpanddedicationitwould not have been possible to produce these proceedings. Their effort deserves spe- cial thanks. And of course, many thanks go to all authors who submitted their papers, no matter whether their papers were accepted or not. The conference was supported by the town of La Fert´e-Bernard,France, the CharlesUniversityinPrague,CzechRepublic,andtheArtsetM´etiersParisTech Laboratory(LAMPA),France.Submittedpapersandtheproceedingshavebeen prepared using the EasyChair system, for which we would like to thank its developers. May 2009 Achim Gottscheber David Obdrˇz´alek Colin T. Schmidt Organization EUROBOT 2009 was organized by the EUROBOT Association, the Charles University in Prague and the Arts et M´etiers ParisTech Laboratory (LAMPA), Paris, France, in cooperation with the town of La Fert´e-Bernard, France and Plan`ete Sciences Association, France. Executive Committee Conference Chair Achim Gottscheber (SRH University of Applied Sciences, Heidelberg, Germany) ProgramChair David Obdrˇz´alek (Charles University in Prague, Czech Republic) Local Organization Colin Schmidt (Le Mans University and LAMPA, Arts et M´etiers ParisTech,France) Program Committee Jacques Bally Y-Parc, Parc Scientifique et Technologique, Yverdon-les-Bains,Switzerland Kay Erik Bo¨hnke Heidelberg University of Applied Sciences, Heidelberg, Germany Branislav Borovac University of Novi Sad, Serbia Jean-Daniel Dessimoz Western Switzerland University of Applied Sciences,HESSOHEIG-VD,Yverdon-les-Bains, Switzerland Heinz Domeisen Hochschule fu¨r Technik Rapperswil, HSR/IMA, Rapperswil, Switzerland Boualem Kazed University of Blida, Algeria PascalLeroux ENSIM/LIUM, Le Mans University, France Julio Pastor Mendoza Universidad de Alcal, Madrid, Spain Giovanni Muscato University of Catania, Catania, Italy Fernando Ribeiro Universidade do Minho, Guimara˜es, Portugal Simon Richir LAMPA, Arts et M´etiers ParisTech, France Table of Contents Walk-Startup of a Two-LeggedWalking Mechanism .................. 1 Kalman Babkovi´c, La´szlo´ Nagy, Damir Krkljeˇs, and Branislav Borovac Control Methodologies for Endoscope Navigation in Robotized Laparoscopic Surgery............................................. 11 Enrique Bauzano, Victor Mun˜oz, Isabel Garcia-Morales, and Belen Estebanez Fast Object Registration and Robotic Bin Picking ................... 23 Kay Bo¨hnke and Achim Gottscheber What Role for Emotions in Cooperating Robots? – The Case of RH3-Y ......................................................... 38 Jean-Daniel Dessimoz and Pierre-Franc¸ois Gauthey A Mobile Robot for Small Object Handling ......................... 47 Ondˇrej Fiˇser, Hana Szu˝csova´, Vladim´ır Grimmer, Jan Popelka, Vojtˇech Von´asek, Toma´ˇs Krajn´ık, and Jan Chudoba Real-Time Door Detection Based on AdaBoost Learning Algorithm .... 61 Jens Hensler, Michael Blaich, and Oliver Bittel DC Motor Drive for Small Autonomous Robots with Educational and Research Purpose ................................................ 74 Damir Krkljeˇs, Kalman Babkovi´c, La´szlo´ Nagy, Branislav Borovac, and Milan Nikoli´c A Multi-axis Control Board Implemented via an FPGA............... 88 Domenico Longo and Giovanni Muscato Robot Localisation in Known Environment Using Monte Carlo Localisation ..................................................... 96 David Obdrˇza´lek, Stanislav Basovn´ık, Pavol Jusko, Toma´ˇs Petr˚uˇsek, and Michal Tula´ˇcek Detecting Scene Elements Using Maximally Stable Colour Regions ..... 107 David Obdrˇza´lek, Stanislav Basovn´ık, Luka´ˇs Mach, and Andrej Mikul´ık Ultrasonic Localization of Mobile Robot Using Active Beacons and Code Correlation ................................................ 116 Marek Peca VIII Table of Contents Calibration Methods for a 3D Triangulation Based Camera............ 131 Ulrike Schulz and Kay Bo¨hnke Camera-Based Control for Industrial Robots Using OpenCV Libraries........................................................ 144 Patrick A. Seidel and Kay Bo¨hnke Generating Complex Movements of Humanoid Robots by Using Primitives....................................................... 158 Miomir Vukobratovi´c, Branislav Borovac, Mirko Rakovi´c, and Milutin Nikoli´c Author Index.................................................. 173 Walk-Startup of a Two-Legged Walking Mechanism Kalman Babkovi´c,L´aszl´o Nagy, Damir Krkljeˇs, and Branislav Borovac Faculty of Technical Sciences Trg Dositeja Obradovi´ca6, 21000 NoviSad, Serbia [email protected] Abstract. There is a growing interest towards humanoid robots. One of their most important characteristic is the two-legged motion – walk. Starting and stopping of humanoid robots introduce substantial delays. In this paper, the goal is to explore the possibility of using a short un- balanced state of thebiped robot to quicklygain speed and achieve the steadystatevelocityduringaperiod shorterthanhalfofthesinglesup- port phase. The proposed method is verified by simulation. Maintainig a steady state, balanced gait is not considered in this paper. 1 Introduction Today, there is a growing interest towards humanoid robots. These are similar to humans in many aspects - measures, shape, locomotion, vision, etc. Among all characterisics, one of the most important is the two-legged motion – walk. Because of this one characterictic, such robots can easily adapt to human envi- ronments. Stairs, uneven surfaces, grooves etc. would represent an unavoidable obstacle to a wheeled robot. Intherecentyears,therearenumerousimplementationsoftwoleggedrobots. SomeofthemusethewellknownZMPtheorytoachievedynamicbalanceduring their walk [1]. Although they can reach a considerable velocity while in steady statewalk,startingandstoppingstillintroducesubstantialdelaysandimbalance [2]. It should also be noted that the foot, its shape and maneuverability plays a significant role in biped walking. Flat feet are the classical approach to biped walk implementation, but there are situations when it is impossible to maintain full contact of the flat foot sole with the ground [3]. Inthispaper,thegoalistoexplorethepossibilityofusingashortunbalanced state of the biped robot to quickly gain speed and achieve the steady state velocity during the course of one quarter of a step (half of a single support phase). To accomplish this, a very fast action is itroduced at the ankle of the walking mechanism (figure 1). In other words, the actuator acts on the shank forcing it forwards in a very short interval, but because of the inertia of the system, the front of the foot rises and the heel is pressed against the ground. In turn the whole mechanism rises and the leg remains almost parallel to itself. After that, since the mechanism is not balanced anymore (only the foot edge at A.Gottscheber,D.Obdrˇza´lek,andC.Schmidt(Eds.):EUROBOT2009,CCIS82,pp.1–10,2010. (cid:2)c Springer-VerlagBerlinHeidelberg2010 2 K. Babkovi´c et al. Fig.1. Lateral view of the walking mechanism’s legs – the dots represent the joints, the hollow circle is the position of the main mass center. left: initial position, right: after the suddenfoot lift. the heel is in contact with the ground), the mechanism commences to overturn forward,gainingasubstantialforwardvelocityandcanpossiblyenterthesteady state walk. This situation will be referred to as walk-startup. It has to be noted, that the mechanism should soon come into balance again by extending the other leg forward. If this doesn’t happen, the mechanism will eventuallyfall.Inthispaper,thatkindofactionwillnotbeconsidered.Thepos- sibilitiesoftheabovementionedwalk-startupwillbe examinedbothanalitycally and by simulation. 2 Results Obtained Analytically Thesimplifiedschematicsofthewalkingmechanismisgiveninfigure1.Thetotal massofthe mechanismis 65kg andit is locatedatthe topofthe mechanism.In the following analysis it is considered that the mass of the legs and feet can be neglected.The exactdimensions (markedin figure1)are givenintable 1. β can be also smaller and greater than the β given in table 1. β is the angle used in 0 0 this analysis.Also, it has to be pointed out that that the mass at the top of the mechanism represents the mass of a potential robot body (including the head, hands, control units, power supply etc). An estimation of the expected forward-velocity of the mechanism after the startup-phase can be calculated. Looking at the figure 1, assuming that the leg remains parallel to itself, the following can be concluded: π α= −β (1) 2 Walk-Startupof a Two-Legged WalkingMechanism 3 Table 1. Mechanical parameters of themechanism L 8cm H L 1m L L 20cm MC mass (total) 65kg β0 15◦ The mass reaches its maximalverticalposition (2) right after the sudden move- ment in the ankle is introduced. Right after that movement stops the overturn- ing commences. At the end of the overturingphase, the mass is at its minimum height(3).Theoverturningphaseisconsideredfinishedwhenthefootisparallel with the ground surface. H =L +L +L cosα (2) MCmax MC L H H =(L +L )sinα (3) MCmin L MC Considering that the initial potential energy (E = mgΔH = mg(H − p MCmax H ))is fully convertedto kineticalenergy(E =mv2/2)atthe endofthe MCmin k overturnig interval the following can be concluded: (cid:2) v = 2g(H −H ) (4) MCmax MCmin The horizontaland vertical components of this velocity can be written as v =vcosβ (5) x v =vsinβ (6) y The horizontal component (5) is of particular interest because it is close to the overall walking (or forward) velocity of the walking mechanism. It should be noted that the velocities do not depend on the mass at all. In the simulations later in this paper, the situation when β =β =15◦ is analyzed. For that angle 0 and the mechanical parameters from table 1 the above formula (4) gives the result 1.09m/s as the center of mass velocity, while the horizontal component (5) is 1.05m/s. 3 Structure of the Mechanism Used in the Simulation The situation described earlier was modeled by a computer based numerical model. The mechanism was described as a three-dimensional mechanical struc- turegiveninfigure2.Thethinvectorsinsidethemechanismsegmentsrepresent the vectors pointing from the joints to the mass centers of each segment. All joints are rotational ones. Although the mechanism incorporates many joints, actually only two of them were used in the simulations. These two joints are specially pointed out in figure 2. The other joints are kept in a fixed, immo- bile postition. The reason why that many joints are introduced is that this way
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