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Jim Mims

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Jim Mims

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    3. Introduction to Autonomous Mobile Robots ? Three key questions in Mobile Robotics ? Where am I ? ? Where am I going ? ? How do I get there ? ? To answer these questions the robot has to ? Have a model of the environment (given or autonomously built) ? Perceive and analyze the environment ? Find its position within the environment ? Plan and execute the movement

    5. From Manipulators to Mobile Robots

    6. Applications of Mobile Robots Indoor Outdoor Structured Environments Unstructured Environments

    7. Automatic Guided Vehicles Newest generation of Automatic Guided Vehicle of VOLVO used to transport motor blocks from one assembly station to another. It is guided by an electrical wire installed in the floor but it is also able to leave the wire to avoid obstacles. There are over 4000 AGV only at VOLVOs plants.

    8. Helpmate HELPMATE is a mobile robot used in hospitals for transportation tasks. It has various on-board sensors for autonomous navigation in the corridors. The main sensor for localization is a camera looking to the ceiling. It can detect the lamps on the ceiling as reference (landmark).

    9. Helpmate

    10. BR700 Cleaning Robot BR 700 cleaning robot developed and sold by Krcher Inc., Germany. Its navigation system is based on a very sophisticated sonar system and a gyro.

    11. ROV Tiburon Underwater Robot The teleoperated iburon robot is used for underwater archaeology This UAV provides autonomous hovering capabilities for the human operator.

    12. The Pioneer Pioneer is a teleoperated robot designed to explore the Sarcophagus at Chernobyl. It has ? A teleoperated mobile robot for deploying sensor and sampling payloads, ? A mapper for creating photorealistic 3D models of the building interior, ? A coreborer for cutting and retrieving samples of structural materials, and ? A suite of radiation and other environmental sensors.

    13. The Pioneer PIONEER 1 is a modular mobile robot offering various options like a gripper or an on board camera. It is equipped with a sophisticated navigation library developed at Stanford Research Institute (SRI).

    14. The B21 Robot B21 (by Real World Interface) is a sophisticated mobile robot with up to three Intel Pentium processors on board. It has different kinds of on board sensors for high performance navigation tasks.

    15. The Khepera Robot KHEPERA is a small mobile robot for research and education. It is about 60 mm in diameter. Additional modules with cameras, grippers and much more are available. More then 700 units have already been sold (end of 1998).

    16. Forester Robot Pulstech Corporation developed the first industrial like walking robot. It is designed for moving wood out of the forest. The leg coordination is automated, but navigation is still done by the human operator on the robot.

    17. Robots for Tube Inspection HCHER robots for sewage tube inspection and reparation. These systems are still fully teleoperated.

    18. Sojourner, First Robot on Mars The mobile robot Sojourner was used during the Pathfinder mission to explore mars in summer 1997. It was nearly fully teleoperated from earth. However, some on board sensors allowed for obstacle detection.

    19. NOMAD, Carnegie Mellon / NASA

    20. The Honda Walking Robot

    21. The Honda Walking Robot Honda engineers created ASIMO with 26 Degrees of Freedom that help it walk and perform tasks much like a human. One Degree of Freedom is the ability to move right and left or up and down. These degrees of freedom act much like human joints for optimum movement and flexibility. ASIMO has two Degrees of Freedom on its neck, six on each arm and six on each leg. Lightweight materials, like a magnesium alloy structure, combined with powerful computers in its backpack and 26 servo motors throughout its body help ASIMO walk and move smoothly with ease

    22. The Honda Walking Robot

    23. The Honda Walking Robot: Specifications WEIGHT: 52 kg WALKING SPEED: 1.6 km/h WALKING STRIDE: Adjustable GRASPING FORCE: .5 kg/hand (5 finger hand) ACTUATORS: Servomotor+Harmonic Speed Reducer+Drive Unit SENSORS: TORSO Gyroscope & Acceleration Sensor POWER SECTION: 38.4V/10AH(Ni-MH) OPERATING SECTION: Workstation and portable Controller

    24. Autonomous Indoor Navigation (Pygmalion) Very robust on-the-fly localization One of the first systems with probabilistic sensor fusion

    25. GuideCane, University of Michigan

    26. GuideCane, University of Michigan

    27. LaserPlans Architectural Tool (ActivMedia Robotics)

    28. Outdoor Mapping (no GPS)

    29. Urban Reconnaissance

    57. 3-Wheeled Vehicles Example: For example, suppose that wheel A is in a position such that a=0, b=0. This would place the contact point of the wheel on XI with the plane of the wheel oriented parallel to YI. If q=0 then sliding constraint (3.6) reduces to: Example: For example, suppose that wheel A is in a position such that a=0, b=0. This would place the contact point of the wheel on XI with the plane of the wheel oriented parallel to YI. If q=0 then sliding constraint (3.6) reduces to:

    58. 4-Wheeled Vehicles 2 Powered, 2 Free Rotating Example: For example, suppose that wheel A is in a position such that a=0, b=0. This would place the contact point of the wheel on XI with the plane of the wheel oriented parallel to YI. If q=0 then sliding constraint (3.6) reduces to: Example: For example, suppose that wheel A is in a position such that a=0, b=0. This would place the contact point of the wheel on XI with the plane of the wheel oriented parallel to YI. If q=0 then sliding constraint (3.6) reduces to:

    59. 4-Wheeled Vehicles 2 by 2 Powered Wheels for Tank-Like Movement Example: For example, suppose that wheel A is in a position such that a=0, b=0. This would place the contact point of the wheel on XI with the plane of the wheel oriented parallel to YI. If q=0 then sliding constraint (3.6) reduces to: Example: For example, suppose that wheel A is in a position such that a=0, b=0. This would place the contact point of the wheel on XI with the plane of the wheel oriented parallel to YI. If q=0 then sliding constraint (3.6) reduces to:

    60. 4-Wheeled Vehicles Car-Like Steering Example: For example, suppose that wheel A is in a position such that a=0, b=0. This would place the contact point of the wheel on XI with the plane of the wheel oriented parallel to YI. If q=0 then sliding constraint (3.6) reduces to: Example: For example, suppose that wheel A is in a position such that a=0, b=0. This would place the contact point of the wheel on XI with the plane of the wheel oriented parallel to YI. If q=0 then sliding constraint (3.6) reduces to:

    61. Castor Wheel

    62. Swedish Wheel Example: g = 0: Swedish wheel with 90 -> decoupled g = p 2: Swedish wheel with 45 Example: g = 0: Swedish wheel with 90 -> decoupled g = p 2: Swedish wheel with 45

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