Pub Date : 2009-06-10DOI: 10.1109/ACC.2009.5160668
R. Pedrami, W. Sivaram, J. Baxter, B. Gordon
In this paper, an energetic swarm controller is developed that controls the swarm temperature, swarm centre position, and swarm potential energy. A sliding control approach is combined with a control allocation process to solve the overactuated control problem. The control allocation problem is solved using nonlinear programming software which allows the optimization problem to be solved with input saturation constraints. Furthermore, a low level trajectory controller based on dynamic feedback linearization is developed in order to improve the trajectory tracking performance of the individual swarm members. Application to a group of wheeled mobile robots is used to demonstrate the approach. Together, these results allow energetic swarm controllers to be implemented on wheeled mobile robot (WMR) systems with uncertainty and input saturation constraints.
{"title":"A control allocation approach for energetic swarm control of wheeled mobile robots","authors":"R. Pedrami, W. Sivaram, J. Baxter, B. Gordon","doi":"10.1109/ACC.2009.5160668","DOIUrl":"https://doi.org/10.1109/ACC.2009.5160668","url":null,"abstract":"In this paper, an energetic swarm controller is developed that controls the swarm temperature, swarm centre position, and swarm potential energy. A sliding control approach is combined with a control allocation process to solve the overactuated control problem. The control allocation problem is solved using nonlinear programming software which allows the optimization problem to be solved with input saturation constraints. Furthermore, a low level trajectory controller based on dynamic feedback linearization is developed in order to improve the trajectory tracking performance of the individual swarm members. Application to a group of wheeled mobile robots is used to demonstrate the approach. Together, these results allow energetic swarm controllers to be implemented on wheeled mobile robot (WMR) systems with uncertainty and input saturation constraints.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127894908","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-05-26DOI: 10.1109/ROBIO.2009.4912983
T. Parittotokkaporn, L. Frasson, A. Schneider, S. Huq, B. Davies, P. Degenaar, Julian Biesenack, Ferdinando M. Rodriguez y Baena
This paper builds on previous work on the biologically inspired microtexturing of next-generation neurosurgical probes [3]. It reports on the outcome of a feasibility study, where a biomimetic robotic actuator was used to demonstrate effective soft tissue traversal (i.e. motion along the surface of a soft tissue) through the reciprocating motion of custombuilt anisotropic surface textures, without the need to apply an external force to push the tissue along the surface and while causing minimum tissue damage. The protocol applied to characterize the interaction between the samples and the different tissues was considered, including parameters such as texture size and geometry, normal load, frictional forces and reciprocating speed and acceleration. A number of microtextured samples, with features including every combination of two teeth geometries (triangular and fin-like) and three tooth sizes (500µm, 100µm and 50µm tooth height), were manufactured and mounted onto a custom-built reciprocating mechanism. First, a variety of soft tissue specimens was tested to qualify the sample/tissue interaction behavior. Subsequently, a comparative study on agarose gel and gelatin was performed to investigate the motion characteristics and resulting tissue damage on brainlike material and to explore what conditions are needed to achieve forward motion.
这篇论文建立在之前关于下一代神经外科探针的生物学启发微纹理的工作基础上[3]。它报告了一项可行性研究的结果，其中使用仿生机器人执行器通过定制的各向异性表面纹理的往复运动来演示有效的软组织遍历(即沿着软组织表面运动)，而不需要施加外力来推动组织沿着表面运动，同时造成最小的组织损伤。考虑了用于表征样品与不同组织之间相互作用的协议，包括纹理大小和几何形状、法向载荷、摩擦力、往复速度和加速度等参数。制作了许多微纹理样品，包括两种牙齿几何形状(三角形和鳍状)和三种牙齿尺寸(500 μ m, 100 μ m和50 μ m齿高)的每种组合，并安装在定制的往复机构上。首先，对多种软组织样品进行了测试，以确定样品/组织相互作用行为。随后，我们对琼脂糖凝胶和明胶进行了对比研究，研究了类脑材料的运动特性及其对组织的损伤，并探讨了实现向前运动所需的条件。
{"title":"Soft tissue traversal with zero net force: Feasibility study of a biologically inspired design based on reciprocal motion","authors":"T. Parittotokkaporn, L. Frasson, A. Schneider, S. Huq, B. Davies, P. Degenaar, Julian Biesenack, Ferdinando M. Rodriguez y Baena","doi":"10.1109/ROBIO.2009.4912983","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4912983","url":null,"abstract":"This paper builds on previous work on the biologically inspired microtexturing of next-generation neurosurgical probes [3]. It reports on the outcome of a feasibility study, where a biomimetic robotic actuator was used to demonstrate effective soft tissue traversal (i.e. motion along the surface of a soft tissue) through the reciprocating motion of custombuilt anisotropic surface textures, without the need to apply an external force to push the tissue along the surface and while causing minimum tissue damage. The protocol applied to characterize the interaction between the samples and the different tissues was considered, including parameters such as texture size and geometry, normal load, frictional forces and reciprocating speed and acceleration. A number of microtextured samples, with features including every combination of two teeth geometries (triangular and fin-like) and three tooth sizes (500µm, 100µm and 50µm tooth height), were manufactured and mounted onto a custom-built reciprocating mechanism. First, a variety of soft tissue specimens was tested to qualify the sample/tissue interaction behavior. Subsequently, a comparative study on agarose gel and gelatin was performed to investigate the motion characteristics and resulting tissue damage on brainlike material and to explore what conditions are needed to achieve forward motion.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115165181","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-05-26DOI: 10.1109/ROBIO.2009.4913120
T. Yamawaki, Shiro Asano, H. Miyashita, M. Yashima
The present paper proposes the strategy for a robotic hand to catch a free-flying object with a high manipulability grasp configuration. Several researchers have succeeded in catching the free-frying object by the robotic hand. However, these researches focus on only the catching and do not discuss the grasp configuration after the catching. It is important to consider not only the stable catching but also the following manipulation after the catching as seen in a juggling and a baton twirling. We propose the strategy that enables the robotic hand to catch the object with a high manipulability grasp configuration and verify the proposed strategy experimentally by using the newly developed three-fingered hand.
{"title":"Robot catching with high manipulability grasp configuration using vision","authors":"T. Yamawaki, Shiro Asano, H. Miyashita, M. Yashima","doi":"10.1109/ROBIO.2009.4913120","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913120","url":null,"abstract":"The present paper proposes the strategy for a robotic hand to catch a free-flying object with a high manipulability grasp configuration. Several researchers have succeeded in catching the free-frying object by the robotic hand. However, these researches focus on only the catching and do not discuss the grasp configuration after the catching. It is important to consider not only the stable catching but also the following manipulation after the catching as seen in a juggling and a baton twirling. We propose the strategy that enables the robotic hand to catch the object with a high manipulability grasp configuration and verify the proposed strategy experimentally by using the newly developed three-fingered hand.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116943320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-05-26DOI: 10.1109/ROBIO.2009.4913100
P. Manoonpong, F. Wörgötter, F. Pasemann
The flying crickets Teleogryllus oceanicus have sound sensitive organs to elicit an “acoustic startle response”. Another kind of the startle response is also evident in the cockroaches Periplaneta and the crickets Gryllus bimaculatus where they use their cercal filiform hairs (wind sensitive hairs) to trigger so called “wind-evoked escape behavior”. Similarly, in this paper a setup is described where an auditory-wind detector sensor and a neural preprocessing system together with a modular neural controller are used to simulate such animal behaviors in an abstract form on a six-legged walking machine. The neural preprocessing network acts as a low-pass filter and sensory shaping unit. In addition, the modular neural controller then generates the desired responses such that the machine performs a fast movement away from abrupt, intense, and unexpected auditory and/or wind stimulus in a physical environment.
{"title":"Neural preprocessing of auditory-wind sensory signals and modular neural control for auditory- and wind-evoked escape responses of walking machines","authors":"P. Manoonpong, F. Wörgötter, F. Pasemann","doi":"10.1109/ROBIO.2009.4913100","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913100","url":null,"abstract":"The flying crickets Teleogryllus oceanicus have sound sensitive organs to elicit an “acoustic startle response”. Another kind of the startle response is also evident in the cockroaches Periplaneta and the crickets Gryllus bimaculatus where they use their cercal filiform hairs (wind sensitive hairs) to trigger so called “wind-evoked escape behavior”. Similarly, in this paper a setup is described where an auditory-wind detector sensor and a neural preprocessing system together with a modular neural controller are used to simulate such animal behaviors in an abstract form on a six-legged walking machine. The neural preprocessing network acts as a low-pass filter and sensory shaping unit. In addition, the modular neural controller then generates the desired responses such that the machine performs a fast movement away from abrupt, intense, and unexpected auditory and/or wind stimulus in a physical environment.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122022095","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-05-26DOI: 10.1109/ROBIO.2009.4913126
William McMahan, I. Walker
Human operation of continuum “continuous-backbone” manipulators remains difficult, because of both the complex kinematics of these manipulators and the need to coordinate their many degrees of freedom. We present a novel synergy-based approach for operator interfaces, by introducing a series of octopus-arm inspired grasp-synergies. These grasp-synergies automatically coordinate the degrees of freedom of the continuum manipulator, allowing an operator to perform kinematically complex grasping motions through simple and intuitive joystick inputs. This effectively reduces the complexity of operation and allows the operator to devote more of his attention to higher-level concerns (e.g. goal, environment). We demonstrate the grasp-synergies interface design in both simulation and hardware using the nine degree of freedom Octarm continuum manipulator.
{"title":"Octopus-inspired grasp-synergies for continuum manipulators","authors":"William McMahan, I. Walker","doi":"10.1109/ROBIO.2009.4913126","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913126","url":null,"abstract":"Human operation of continuum “continuous-backbone” manipulators remains difficult, because of both the complex kinematics of these manipulators and the need to coordinate their many degrees of freedom. We present a novel synergy-based approach for operator interfaces, by introducing a series of octopus-arm inspired grasp-synergies. These grasp-synergies automatically coordinate the degrees of freedom of the continuum manipulator, allowing an operator to perform kinematically complex grasping motions through simple and intuitive joystick inputs. This effectively reduces the complexity of operation and allows the operator to devote more of his attention to higher-level concerns (e.g. goal, environment). We demonstrate the grasp-synergies interface design in both simulation and hardware using the nine degree of freedom Octarm continuum manipulator.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114831650","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-05-26DOI: 10.1109/ROBIO.2009.4913269
Y. Ishizuka, Y. Mae, K. Ohara, T. Takubo, T. Arai
In the present paper, we propose a simple generation method of a dynamic object map by the person who does not have professional knowledge about sensors. In the method, a user attaches ultrasonic sensors with RF-ID tags to corners of objects. More than 2 sets of receivers can measure their 3D positons. Dynamic object map is generated by the measurements in real time. The method is evaluated by the inexperience users act to build the map according to the simple procedure.
{"title":"Simple method for generating dynamic object map","authors":"Y. Ishizuka, Y. Mae, K. Ohara, T. Takubo, T. Arai","doi":"10.1109/ROBIO.2009.4913269","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913269","url":null,"abstract":"In the present paper, we propose a simple generation method of a dynamic object map by the person who does not have professional knowledge about sensors. In the method, a user attaches ultrasonic sensors with RF-ID tags to corners of objects. More than 2 sets of receivers can measure their 3D positons. Dynamic object map is generated by the measurements in real time. The method is evaluated by the inexperience users act to build the map according to the simple procedure.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123648768","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-05-26DOI: 10.1109/ROBIO.2009.4912970
T. Maneewarn, Boonlert Maneechai
This research aims to study the parameters that contribute to the crawling performance of the snake robot inside an inclined pipe. The shape and motion propagation of the snake robot directly affect the forward crawling speed of the robot inside a pipe. Motion shape code is proposed as the simplified method for describing shape of a modular snake robot. The motion propagation can be created by shifting the code to the adjacent joint. Five different motion shapes were tested on the 12-joints modular snake robot that moved inside a pipe with varied inclined angles. The experimental results showed that the motion shape that has the maximum number of waves along the robot length and the largest basis angle resulted in the fastest forward crawling speed.
{"title":"Design of pipe crawling gaits for a snake robot","authors":"T. Maneewarn, Boonlert Maneechai","doi":"10.1109/ROBIO.2009.4912970","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4912970","url":null,"abstract":"This research aims to study the parameters that contribute to the crawling performance of the snake robot inside an inclined pipe. The shape and motion propagation of the snake robot directly affect the forward crawling speed of the robot inside a pipe. Motion shape code is proposed as the simplified method for describing shape of a modular snake robot. The motion propagation can be created by shifting the code to the adjacent joint. Five different motion shapes were tested on the 12-joints modular snake robot that moved inside a pipe with varied inclined angles. The experimental results showed that the motion shape that has the maximum number of waves along the robot length and the largest basis angle resulted in the fastest forward crawling speed.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"387 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124797386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-05-26DOI: 10.1109/ROBIO.2009.4913041
M. Begum, F. Karray, G. Mann, R. Gosine
‘Saliency map’, a scalar, two-dimensional representation of visual saliency, is at the center of almost all of the existing models of visual attention. Attention is directed toward the most salient location in the saliency map. The mechanism of ‘inhibition of return’ (IOR) suppresses the saliency of recently attended location and thereby enabling the shifts of attention toward different locations in the saliency map in order of decreasing saliency. This process performs well as longs as the attention is directed covertly. For overt attention with head movements, which is practically the case in robotic applications, the visual saliency as well as the frame of reference in which the IOR is expressed change after every head movement. These pose a set of computational challenges in implementing attention behavior and IOR. This paper argues that the re-mapping of visual saliency and dynamic shift of IOR emerge naturally in a particle filter based framework of visual attention. Experiments on a real camera head validate the arguments.
{"title":"Re-mapping of visual saliency in overt attention: A particle filter approach for robotic systems","authors":"M. Begum, F. Karray, G. Mann, R. Gosine","doi":"10.1109/ROBIO.2009.4913041","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913041","url":null,"abstract":"‘Saliency map’, a scalar, two-dimensional representation of visual saliency, is at the center of almost all of the existing models of visual attention. Attention is directed toward the most salient location in the saliency map. The mechanism of ‘inhibition of return’ (IOR) suppresses the saliency of recently attended location and thereby enabling the shifts of attention toward different locations in the saliency map in order of decreasing saliency. This process performs well as longs as the attention is directed covertly. For overt attention with head movements, which is practically the case in robotic applications, the visual saliency as well as the frame of reference in which the IOR is expressed change after every head movement. These pose a set of computational challenges in implementing attention behavior and IOR. This paper argues that the re-mapping of visual saliency and dynamic shift of IOR emerge naturally in a particle filter based framework of visual attention. Experiments on a real camera head validate the arguments.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"185 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123263156","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-05-26DOI: 10.1109/ROBIO.2009.4913101
R. Saegusa, G. Metta, G. Sandini, S. Sakka
For a complex autonomous robotic system such as a humanoid robot, motor-babbling-based sensorimotor learning is considered an effective method to develop an internal model of the self-body and the environment autonomously. In this paper, we propose a method of sensorimotor learning and evaluate it performance in active learning. The proposed model is characterized by a function we call the “confidence”, and is a measure of the reliability of state prediction and control. The confidence for the state can be a good measure to bias the next exploration strategy of data sampling, and to direct its attention to areas in the state domain less reliably predicted and controlled. We consider the confidence function to be a first step toward an active behavior design for autonomous environment adaptation. The approach was experimentally validated using the humanoid robot James.
{"title":"Active motor babbling for sensorimotor learning","authors":"R. Saegusa, G. Metta, G. Sandini, S. Sakka","doi":"10.1109/ROBIO.2009.4913101","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913101","url":null,"abstract":"For a complex autonomous robotic system such as a humanoid robot, motor-babbling-based sensorimotor learning is considered an effective method to develop an internal model of the self-body and the environment autonomously. In this paper, we propose a method of sensorimotor learning and evaluate it performance in active learning. The proposed model is characterized by a function we call the “confidence”, and is a measure of the reliability of state prediction and control. The confidence for the state can be a good measure to bias the next exploration strategy of data sampling, and to direct its attention to areas in the state domain less reliably predicted and controlled. We consider the confidence function to be a first step toward an active behavior design for autonomous environment adaptation. The approach was experimentally validated using the humanoid robot James.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123299301","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-05-26DOI: 10.1109/ROBIO.2009.4913337
K. Ohno, T. Kawahara, S. Tadokoro
The authors aim at the development of a 3D laser scanner that can measure uniform and dense 3D shape of static objects in dynamic environment. The 3D scanner was composed of a 2D Laser Range Finder (LRF) and Pan-Tilt base. 3D shape is measured by rotating 2D LRF that is tilted around the two axes. The laser point trajectory shows cross scan. Use of cross scan achieved the wide view angular and the uniform 3D scan. The proposed 3D scanner can adjust the measurement area and the density of 3D point clouds by changing the angle and angular velocity of the pan-tilt mechanism. The 3D scanner can decrease 3D measurement time. In addition, this 3D scanner measures same area twice during one 3D scan. Comparing these two measurement distances, the moving object can be detected.
{"title":"Development of 3D laser scanner for measuring uniform and dense 3D shapes of static objects in dynamic environment.","authors":"K. Ohno, T. Kawahara, S. Tadokoro","doi":"10.1109/ROBIO.2009.4913337","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913337","url":null,"abstract":"The authors aim at the development of a 3D laser scanner that can measure uniform and dense 3D shape of static objects in dynamic environment. The 3D scanner was composed of a 2D Laser Range Finder (LRF) and Pan-Tilt base. 3D shape is measured by rotating 2D LRF that is tilted around the two axes. The laser point trajectory shows cross scan. Use of cross scan achieved the wide view angular and the uniform 3D scan. The proposed 3D scanner can adjust the measurement area and the density of 3D point clouds by changing the angle and angular velocity of the pan-tilt mechanism. The 3D scanner can decrease 3D measurement time. In addition, this 3D scanner measures same area twice during one 3D scan. Comparing these two measurement distances, the moving object can be detected.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123985101","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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