Proceedings Article10.1109/IROS.2001.976262
Using orthogonal visual servoing errors for classifying terrain
Richard M. Voyles,A.C. Larson,K.B. Yesin,Bradley J. Nelson +3 more
- 29 Oct 2001
- Vol. 2, pp 772-777
TL;DR: This paper investigates the dual-use of visual servoing error in the context of classifying terrain conditions and investigates the two-dimensional nature of image-based servoing in a ground-based mobile robot.
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Abstract: A novel, centimeter-scale crawling robot has been developed to address applications in surveillance, search-and-rescue, and planetary exploration. This places constraints on size and durability that minimizes the mechanism. As a result, a dual-use design employing two arms for both manipulation and locomotion was conceived. In a complementary fashion, this paper investigates the dual-use of visual servoing error. Visual servoing can be used by a mobile robot for homing and tracking. But because ground-based mobile robots are inherently planar, the control methodology (steering) is one-dimensional. The two-dimensional nature of image-based servoing leaves additional information content to be used in other contexts. We explore this information in the context of classifying terrain conditions. An outline for gait adaptation based on this is suggested for future work.
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Citations
Core-bored search-and-rescue applications for an agile limbed robot
Richard M. Voyles,A.C. Larson,Jaewook Bae,M. Lapoint +3 more
- 01 Dec 2004
TL;DR: The TerminatorBot is proposed as a prototype limbed robot for studying core bored inspection during search-and-rescue operations and a small, agile robotic device could augment the use of such cameras.
21
Terrain classification through weakly-structured vehicle/terrain interaction
A.C. Larson,Richard M. Voyles,Güleser Kalaycı Demir +2 more
- 06 Jul 2004
TL;DR: A gait bounce measure is derived from visual servoing errors that result from vehicle-terrain interactions during normal locomotion to describe how terrain classification can be used for gait adaptation, particularly in relation to an efficiency metric.
16
Terrain Classification Using Weakly-Structured Vehicle/Terrain Interaction
TL;DR: This paper derived a gait bounce measure from visual servoing errors that results from vehicle-terrain interactions during normal locomotion, and describes how terrain classification may be used for gait adaptation, particularly in relation to an efficiency metric.
10
TerminatorBot: a novel robot with dual-use mechanism for locomotion and manipulation
Richard M. Voyles,A.C. Larson +1 more
TL;DR: In this paper, the authors describe the mechanism and design of the specialized force/torque sensor, and the mechanism-specific gaits of TerminatorBot, a centimeter-scale crawling robot for surveillance, search and rescue, and planetary exploration.
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