Map-Making with a Four-Legged Mobile Robot
نویسندگان
چکیده
Most approaches to map-making with an autonomous mobile robot rely on a set of standard tools, such as laser range finders, sonar arrays, precise shaft encoders, or GPS uplinks. While it is difficult to construct a map without such tools, there is still utility in endowing low-cost, legged robots with map-making capabilities in order to exploit their unique advantages. This paper describes an attempt to construct a recognizable map of an indoor hallway environment with a Sony ERS-7 AIBO outfitted with suboptimal mapping components.
منابع مشابه
Navigation of a Mobile Robot Using Virtual Potential Field and Artificial Neural Network
Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...
متن کاملKinematic and Gait Analysis Implementation of an Experimental Radially Symmetric Six-Legged Walking Robot
As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...
متن کاملSpatiotemporal context in robot vision: Detection of static objects in the robocup four legged league
Having as a main motivation the development of robust and high performing robot vision systems that can operate in dynamic environments, we propose a context-based generic vision system for a mobile robot with a mobile camera. We choose as a first application for this vision system, the detection of static objects in the RoboCup Four Legged League domain. Preliminary results using real video se...
متن کاملMap-merging in Multi-robot Simultaneous Localization and Mapping Process Using Two Heterogeneous Ground Robots
In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...
متن کاملStiffness control of a legged robot equipped with a serial manipulator in stance phase
The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2007