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Robotics & Automation Magazine, IEEE

Issue 3 • Date Sep 1999

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Displaying Results 1 - 5 of 5
  • Control of variable speed gaits for a biped robot

    Page(s): 19 - 29
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (952 KB)  

    We discuss a balance scheme for handling variable-speed gaits that was implemented on an experimental biped at the University of New Hampshire. The control scheme uses preplanned but adaptive motion sequences in combination with closed-loop reactive control. CMAC neural networks are responsible for the adaptive control of side-to-side and front-to-back balance. The biped is able to walk with variable-speed gaits and to change gait speeds on the fly. The slower gait speeds require statically balanced walking, while the faster speeds require dynamically balanced walking. It is not necessary to distinguish between the two balance modes within the controller. Following training, the biped is able to walk on flat, nonslippery surfaces at forward velocities in the range of 21 cm/min to 72 cm/min, with an average stride length of 6.5 cm View full abstract»

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  • Simultaneous localization and map building for mobile robot navigation

    Page(s): 42 - 53
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (860 KB)  

    Inexpensive ultrasonic sensors, incremental encoders, and grid-based probabilistic modeling are used for improved robot navigation in indoor environments. For model-building, range data from ultrasonic sensors are constantly sampled and a map is built and updated immediately while the robot is travelling through the workspace. The local world model is based on the concept of an occupancy grid. The world model extracted from the range data is based on the geometric primitive of line segments. For the extraction of these features, methods such as the Hough transform and clustering are utilized. The perceived local world model along with dead-reckoning and ultrasonic sensor data are combined using an extended Kalman filter in a localization scheme to estimate the current position and orientation of the mobile robot, which is subsequently fed to the map-building algorithm. Implementation issues and experimental results with the Nomad 150 mobile robot in a real-world indoor environment (office space) are presented View full abstract»

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  • Miniature robots for space and military missions

    Page(s): 9 - 18
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (988 KB)  

    Miniature robots enable low-cost planetary surface exploration missions as well as new military missions in urban terrain where small robots provide critical assistance to human operations. These space and military missions have many similar technological challenges. This article describes the technologies under development, the applications where these technologies are relevant to both space and military missions, and the status of the most recent technology demonstrations in terrestrial scenarios View full abstract»

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  • Live remote control of a robot via the Internet

    Page(s): 7 - 8
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (140 KB)  

    In April 24, 1997, at the International Conference on Robotics and Automation in Albuquerque, an operator pulled a joystick in Albuquerque that controlled the motions of a Puma robot in Tarn's laboratory more than 1,500 kilometers away. The teleoperations feat was a major step for the burgeoning field of robotics, and it was a giant leap for telecommunications, adding a previously unexplored dimension to the Internet-remote control and providing new horizons for other applications in long-distance learning, research opportunities, and hands-on experimentation. The event-based planning and control scheme has been extended to solve the challenging problem in intelligent control of manufacturing systems View full abstract»

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  • A robotic system for internal inspection of water pipelines

    Page(s): 30 - 41
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1152 KB)  

    This research has been motivated by the need for a reliable, robust, and cost-effective tool for internal pipe inspection with application to preventive and predictive maintenance. A new design for a visual inspection system for the interior of water pipelines with minimal service interruption is presented. The method proposed is especially designed to work in the in-water environment. We first describe water pipelines and the challenges of navigation in their interior, and the current practices for failure detection are presented. We also present the mechanical design, the electronics and communication systems, the fiber-optic bus, and the operator station. Two image-processing algorithms for measuring fissure length and the effective diameter of the pipe are also presented, including examples of operation on real pipelines View full abstract»

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Aims & Scope

IEEE Robotics and Automation Magazine is a unique technology publication which is peer-reviewed, readable and substantive.  The Magazine is a forum for articles which fall between the academic and theoretical orientation of scholarly journals and vendor sponsored trade publications.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Eugenio Guglielmelli
Laboratory of Biomedical Robotics
      and Biomicrosystems
Universita' Campus Bio-Medico
      di Roma