| Description |
1 online resource (701 pages) |
| Series |
Springer Proceedings in Advanced Robotics ; v. 5 |
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Springer proceedings in advanced robotics ; v. 5
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| Contents |
Foreword -- Preface -- About the Book -- Contents -- Part I Control -- Controlling Ocean One -- 1 Introduction -- 2 Robot -- 3 Pilot Interface -- 4 Modeling -- 5 Control -- 5.1 Whole Body Architecture -- 5.2 Manipulation Task -- 5.3 Posture Task -- 5.4 Constraints Task -- 5.5 Hydrodynamic Feed-Forward Compensation -- 5.6 Thruster/Body Control -- 6 Teleoperation and Haptic Interaction -- 7 Simulation -- 7.1 Step Response in Operational Space -- 7.2 Docking Maneuver with Force Control -- 7.3 Obstacle Avoidance |
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8 Deployment and Experimental Results9 Conclusion -- References -- Safe Self-collision Avoidance for Versatile Robots Based on Bounded Potentials -- 1 Introduction -- 2 Preliminaries -- 2.1 Artificial Potentials and Energy Conservation -- 2.2 Obstacles, Closest Points and Collisions -- 2.3 Classic Collision Avoidance with Artificial Potentials -- 3 Method -- 3.1 Energy Bounding Control Strategy -- 3.2 Artificial Potential Force -- 3.3 Dissipative Repulsion and Damping -- 3.4 Transitional Switching -- 3.5 Limiting of Nominal Control -- 3.6 Summary |
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4 Experiments4.1 Experimental Design -- 4.2 Results and Discussion -- 5 Conclusion -- References -- Towards Controlling Bucket Fill Factor in Robotic Excavation by Learning Admittance Control Setpoints -- 1 Introduction -- 1.1 Related Work -- 1.2 About This Paper -- 2 Approach to Robotic Excavation: The Dig Admittance Controller -- 3 Experiment Apparatus and Methodology -- 3.1 ST14 LHD Specifications -- 3.2 Sensors and Data Acquisition -- 3.3 Excavation Media -- 3.4 Robotic Excavation Trials Procedure -- 4 Experiments and Analysis |
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4.1 Preliminary Experiments4.2 Robotic Excavation Trials for Varying ut and vd -- 5 Setpoint Learning for Controllable Bucket Fill: Discussion -- 6 Conclusions and Future Work -- References -- Trajectory Optimization for Dynamic Grasping in Space Using Adhesive Grippers -- 1 Introduction -- 2 Grasping Envelope -- 3 Autonomous Grasping -- 3.1 System Dynamics -- 3.2 Control Architecture -- 3.3 Phase 1: Alignment -- 3.4 Phase 2: Final Approach -- 3.5 Approximate Region of Attraction -- 4 Experimental Results -- 5 Conclusions -- References |
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Generation of Turning Motion for Tracked Vehicles Using Reaction Force of Stairs' Handrail1 Introduction -- 2 Related Works -- 3 Turning Motion Using Reaction Force -- 4 Evaluation of Turning Motion Generated Using Reaction Force from Safety Wall of Stairs' Handrail -- 4.1 Evaluation Method -- 4.2 Evaluation of the Turning Motion on the Upward Stairs -- 4.3 Evaluation of the Turning Motion on the Downward Stairs -- 4.4 Discussion -- 5 Autonomous Turning Motion on the Stiars -- 5.1 Implementation Method -- 5.2 Evaluation Method -- 5.3 Evaluation Result |
| Summary |
This book contains the proceedings of the 11th FSR (Field and Service Robotics), which is the leading single-track conference on applications of robotics in challenging environments. This conference was held in Zurich, Switzerland from 12-15 September 2017. The book contains 45 full-length, peer-reviewed papers organized into a variety of topics: Control, Computer Vision, Inspection, Machine Learning, Mapping, Navigation and Planning, and Systems and Tools. The goal of the book and the conference is to report and encourage the development and experimental evaluation of field and service robots, and to generate a vibrant exchange and discussion in the community. Field robots are non-factory robots, typically mobile, that operate in complex and dynamic environments: on the ground (Earth or other planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. The first FSR was held in Canberra, Australia, in 1997. Since that first meeting, FSR has been held roughly every two years, cycling through Asia, Americas, and Europe |
| Notes |
""6 Conclusion"" |
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Print version record |
| Subject |
Robotics -- Congresses
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TECHNOLOGY & ENGINEERING -- Engineering (General)
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Robotics
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| Genre/Form |
proceedings (reports)
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Conference papers and proceedings
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Conference papers and proceedings.
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Actes de congrès.
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| Form |
Electronic book
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| Author |
Hutter, Marco
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Siegwart, Roland.
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| ISBN |
9783319673615 |
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3319673610 |
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