Mobile RobotsTowards New Applications docx

Mobile Robots Towards New Applications Mobile Robots Towards New Applications Edited by Aleksandar Lazinica pro literatur Verlag Published by Advanced Robotic Systems International and pro literatur Verlag 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. © 2006 Advanced Robotic Systems International www.ars-journal.com Additional copies can be obtained from: publication@ars-journal.com First published December 2006 Printed in Croatia A catalogue record for this book is available from the German Library. Mobile Robots, Towards New Applications, Edited by Aleksandar Lazinica p. cm. ISBN 10: 3-86611-314-5 ISBN 13: 978-3-86611-314-5 1. Mobile Robotics. 2. Applications. I. Aleksandar Lazinica V Preface Industrial robots have been widely applied in many fields to increase productivity and flexibility, i.e. to work on repetitive, physically tough and dangerous tasks. Be- cause of similar reasons, the need on robots in service sectors-like robots in the hospital, in household, in underwater applications-is increasing rapidly. Mobile, intelligent robots became more and more important for science as well as for in- dustry. They are and will be used for new application areas. The range of potential applications for mobile robots is enormous. It includes agri- cultural robotics applications, routine material transport in factories, warehouses, office buildings and hospitals, indoor and outdoor security patrols, inventory veri- fication, hazardous material handling, hazardous site cleanup, underwater applica- tions, and numerous military applications. This book is the result of inspirations and contributions from many researchers worldwide. It presents a collection of wide range research results of robotics scien- tific community. Various aspects of current research in new robotics research areas and disciplines are explored and discussed. It is divided in three main parts cover- ing different research areas: - Humanoid Robots, - Human-Robot Interaction, - Special Applications. I hope that you will find a lot of useful information in this book, which will help you in performing your research or fire your interests to start performing research in some of the cutting edge research fields mentioned in the book. Editor Aleksandar Lazinica VI VII Contents Preface V Humanoid Robots 1. Humanoid Robot Navigation Based on Groping Locomotion Algorithm to Avoid an Obstacle 001 Hanafiah Yussof, Mitsuhiro Yamano, Yasuo Nasu and Masahiro Ohka 2. Biped Without Feet in Single Support: Stabilization of the Vertical Posture with Internal Torques 027 Formalsky Alexander and Aoustin Yannick 3. A Musculoskeletal Flexible-Spine Humanoid Kotaro Aiming at the Future in 15 years’ time 045 Ikuo Mizuuchi 4. Modelling of Bipedal Robots Using Coupled Nonlinear Oscillators 057 Armando Carlos de Pina Filho, Max Suell Dutra and Luciano Santos Constantin Raptopoulos 5. Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications 079 Marko B. Popovic and Hugh Herr 6. Robotic Grasping: A Generic Neural Network Architecture 105 Nasser Rezzoug and Philippe Gorce 7. Compliant Actuation of Exoskeletons 129 H. van der Kooij, J.F. Veneman and R. Ekkelenkamp 8. Safe Motion Planning for Human-Robot Interaction: Design and Experiments 149 Dana Kulic and Elizabeth Croft VIII Human-Robot Interaction 9. Command, Goal Disambiguation, Introspection, and Instruction in Gesture-Free Spoken Dialogue with a Robotic Office Assistant 171 Vladimir A. Kulyukin 10. Develop Human Safety Mechanism for Human-Symbiotic Mobile Manipulators: Compliant Hybrid Joints 193 Zhijun Li, Jun Luo, Shaorong Xie and Jiangong Gu 11. Exploratory Investigation into Influence of Negative Attitudes toward Robots on Human-Robot Interaction 215 Tatsuya Nomura, Takayuki Kanda, Tomohiro Suzuki and Kensuke Kato 12. A New Approach to Implicit Human-Robot Interaction Using Affective Cues 233 Pramila Rani and Nilanjan Sarkar 13. Cognitive Robotics: Robot Soccer Coaching using Spoken Language 253 Alfredo Weitzenfeld and Peter Ford Dominey 14. Interactive Robots as Facilitators of Children’s Social Development 269 Hideki Kozima and Cocoro Nakagawa 15. Research and Development for Life Support Robots that Coexist in Harmony with People 287 Nobuto Matsuhira, Hideki Ogawa, Takashi Yoshimi, Fumio Ozaki, Hideaki Hashimoto and Hiroshi Mizoguchi Special Applications 16. Underwater Robots Part I: Current Systems and Problem Pose 309 Lapierre Lionel 17. Underwater Robots Part II: Existing Solutions and Open Issues 335 Lapierre Lionel 18. An Active Contour and Kalman Filter for Underwater Target Tracking and Navigation 373 Muhammad Asif and Mohd Rizal Arshad IX 19. Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation 393 Kia Chua and Mohd Rizal Arshad 20. The Surgeon’s Third Hand an Interactive Robotic C-Arm Fluoroscope 403 Norbert Binder, Christoph Bodensteiner, Lars Matthaeus, Rainer Burgkart and Achim Schweikard 21. Facial Caricaturing Robot COOPER with Laser Pen and Shrimp Rice Cracker in Hands Exhibited at EXPO2005 419 Takayuki Fujiwara, Takashi Watanabe, Takuma Funahashi, Katsuya Suzuki and Hiroyasu Koshimizu 22. Learning Features for Identifying Dolphins 429 Luiz Gonçalves, Adelardo Medeiros and Kaiser Magalde 23. Service Robots and Humanitarian Demining 449 Maki K. Habib 24. Feasibility Study on an Excavation-Type Demining Robot “PEACE” 481 Yoshikazu Mori 25. Attitude Compensation of Space Robots for Capturing Operation 499 Panfeng Huang and Yangsheng Xu 26. Omni-directional Mobile Microrobots on a Millimeter Scale for a Microassebly System 513 Zhenbo Li and Jiapin Chen 27. Study of Dance Entertainment Using Robots 535 Kuniya Shinozaki, Akitsugu Iwatani and Ryohei Nakatsu 28. Experimental Robot Musician 545 Tarek Sobh, Kurt Coble and Bei Wang 29. On the Analogy in the Emergent Properties of Evolved Locomotion Gaits of Simulated Snakebot 559 Ivan Tanev, Thomas Ray and Katsunori Shimohara 30. A Novel Autonomous Climbing Robot for Cleaning an Elliptic Half-shell 579 Houxiang Zhang, Rong Liu, Guanghua Zong and Jianwei Zhang X [...]... send its commands to humanoid robot’s joints in order to perform required motion Lastly, when the motion is completed, new access permission will send to motion instructor for delivery of the next instruction commands Fig 5 Groping locomotion algorithm 6 Mobile Robots, Towards New Applications Fig 6 Control system structure of humanoid robot Bonten-Maru II 4.3 Correlation of Obstacle Avoidance with... Scientific Research of 24 Mobile Robots, Towards New Applications Priority Areas 438 “Next-Generation Actuators Leading Breakthroughs” program, No 16078207) 11 References Ellery, A (2005) Environment-robot interaction-the basis for mobility in planetary microrovers, Journal Robotics and Autonomous Systems, Vol 51, pp 29-39 Borenstein, J & Koren, Y (1991) Histogramic in-motion mapping for mobile robot obstacle... locomotion” on the humanoid robots capable of defining self-localization and obstacle avoidance This system is based on contact interaction with the aim of creating suitable algorithms for 2 Mobile Robots, Towards New Applications humanoid robots to effectively operate in real environments In order to make humanoid robot recognize its surrounding, six-axis force sensors were attached at both robotic arms... obstacle has been detected during the process of checking for an obstacle to the left, the robot will rotate its orientation to the back-left position “facing” the obstacle in order to 8 Mobile Robots, Towards New Applications confirm the obstacle’s position at a wider, more favorable angle, finally avoiding it At first, the left leg’s hip-joint yaw will rotate counterclockwise direction to 90° – φ... origin and perpendicular with Eq (1), which described the shortest distance from robot to wall, is defined in Eq (2), where the intersection coordinate in X-Y axes plane is shown in Eq (3) 10 Mobile Robots, Towards New Applications y=ax+b (1) 1 x a (2) y=− Cx Cy − = ab 2 a +1 b (3) a2 + 1 Groping angle φ is an angle from X-axis of the robot reference coordinates to the perpendicular line of Eq (2) Here,... minimum side-step size, while is fixed at maximum side-step size S= S= α (Lb − L ≤ 0) (Lb − L )sin φ (Lb − L > 0) β (( Lb − L) sin φ > β ) (Lb − L )sin φ (( Lb − L) sin φ ≤ β ) (9) (10) 12 Mobile Robots, Towards New Applications 5.3.2 Correction of angle Correction of the robot’s angles is performed by changing the robot orientation to 90°–φ, so that the final robot’s orientation is parallel with wall’s... as follows: 0 hT Link 0 1 2 3 = Rot(z, )Trans(0,0,d)Trans(a,0,0)Rot(x, α) iarm 1arm-90º 2arm 3arm 0 Table 2 Link parameters of the robot arm d 0 0 0 0 α 90 º -90 º 0 0 (12) l 0 0 l1 l2 14 Mobile Robots, Towards New Applications Here, variable factor i is the joint angle between the X i-1 and the X i axes measured about the Z i axis; d i is the distance from the X i-1 axis to the X i axis measured along... we solve only inverse kinematics calculations for the robot leg A reference coordinate is taken at the intersection point of the three-DOF hip joint In solving calculations of inverse 16 Mobile Robots, Towards New Applications kinematics for the leg, just as for arm, the joint coordinates are divided into eight separate coordinate frames as listed bellow 0 Reference coordinate 1 Hip yaw coordinate... surface; therefore, the rotation matrix for the leg’s end-point measured from the reference coordinate can be defined by the following Eq (32) Here, 1leg can be defined as below Eq (33) 18 Mobile Robots, Towards New Applications o hR cθ 1leg − sθ 1leg = Rot ( z ,θ 1leg ) = sθ 1leg 0 r11 r12 0 0 = r21 1 0 r22 0 0 1 0 cθ 1leg 0 (32) θ 1 leg = Atan2 (r21 , r22 ) o 1leg, hT Next, considering ii), from the... planning of humanoid robot navigation performed in the experimet Each joint’s rotation angles are saved and analyzed in a graph structure This is to ensure the computation of joints rotation 20 Mobile Robots, Towards New Applications angle was correct and according to result of groping locomotion For example, graphs for the left and right leg are plotted in Fig 15 and Fig 16 respectively during obstacle avoidance . Mobile Robots Towards New Applications Mobile Robots Towards New Applications Edited by Aleksandar Lazinica pro literatur Verlag Published. German Library. Mobile Robots, Towards New Applications, Edited by Aleksandar Lazinica p. cm. ISBN 10: 3-86611-314-5 ISBN 13: 978-3-86611-314-5 1. Mobile Robotics. 2. Applications. I. Aleksandar. completed, new access permission will send to motion instructor for delivery of the next instruction commands. Fig. 5. Groping locomotion algorithm. 6 Mobile Robots, Towards New Applications