Journal: Springer Proceedings in Advanced Robotics

Abbreviation

Springer proc. adv. robotics

Publisher

Springer

Journal Volumes

ISSN

2511-1256

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Filters

2017 - 2019132020 - 202419
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Publications 1 - 10 of 32
  • Safe Self-collision Avoidance for Versatile Robots Based on Bounded Potentials
    Item type: Conference Paper
    Gonon, David; Jud, Dominic; Fankhauser, Péter; et al. (2017)
    Springer Proceedings in Advanced Robotics ~ Field and Service Robotics. Results of the 11th International Conference
  • Autonomous Mission with a Mobile Manipulator - A Solution to the MBZIRC
    Item type: Conference Paper
    Carius, Jan; Wermelinger, Martin; Rajasekaran, Balasubramanian; et al. (2017)
    Springer Proceedings in Advanced Robotics ~ Field and Service Robotics
    This work presents the system and approach we employed to tackle thesecond challenge of the Mohamed Bin Zayed International Robotics Challenge(MBZIRC). The goal of this challenge is to find a tool panel on a field, pickan appropriate wrench from the panel, and operate a valve stem therewith. Forthis purpose we use a task-oriented field robot, based on Clearpath Husky with acustomized series elastic arm, that can be deployed for versatile purposes. However,to be competitive in a robotic challenge, further specialization and improvementsare necessary to achieve a certain task faster and more reliably. A high emphasis isput on designing a system that can operate fully autonomously and independentlyrespond if a subtask was not executed successfully. Moreover, the operator can easilymonitor the system through a graphical user interface and, if desired, interact with therobot. We present our algorithms to explore the field, detect the panel, and navigateto it. Furthermore, we use a support vector machine based object detection methodto locate the valve stem and wrenches on the panel for visual servoing. Finally, weshow the advantages of a force controllable manipulator to handle the valve stemwith a tool. This system demonstrated its applicability when fulfilling the entire taskfully autonomously during both trials of the Grand Challenge of the MBZIRC 2017.
  • ANYmal in the Field : Solving Industrial Inspection of an Offshore HVDC Platform with a Quadrupedal Robot
    Item type: Conference Paper
    Gehring, Christian; Fankhauser, Péter; Isler, Linus; et al. (2021)
    Springer Proceedings in Advanced Robotics ~ Field and Service Robotics
    Offshore HVDC converter stations for transportation of offshore wind energy to the coast need regular human inspection. Automated surveillance of such a platform by a mobile robot has high potential of improving the speed and quality of decision-making while reducing operating expenses and risk of unmanned operation of the platforms. However, the challenging environment of such platforms has prevented operators from making use of mobile robots to this date. Recent progress in legged robotics resulted in systems that are becoming feasible for such tasks nowadays. For this reason, the quadrupedal robot ANYmal was tested on a platform in the North Sea for automated inspection. This paper presents the results of the field tests and discusses the challenges of industrial inspection of offshore sites.
  • Robotic Invention: Challenges and Perspectives for Model-Free Design Optimization of Dynamic Locomotion Robots
    Item type: Conference Paper
    Brodbeck, Luzius; Hauser, Simon; Iida, Fumiya (2017)
    Springer Proceedings in Advanced Robotics ~ Robotics Research
  • Terrain-Dependant Control of Hexapod Robots Using Vision
    Item type: Conference Paper
    Homberger, Timon; Bjelonic, Marko; Kottege, Navinda; et al. (2017)
    Springer Proceedings in Advanced Robotics ~ 2016 International Symposium on Experimental Robotics
  • Contact Inertial Odometry: Collisions are your Friends
    Item type: Conference Paper
    Lew, Thomas; Emmei, Tomoki; Fan, David D.; et al. (2022)
    Springer Proceedings in Advanced Robotics ~ Robotics Research
    Autonomous exploration of unknown environments with aerial vehicles remains a challenge, especially in perceptually degraded conditions. Dust, fog, or a lack of visual or LiDAR-based features results in severe difficulties for state estimation algorithms, which failure can be catastrophic. In this work, we show that it is indeed possible to navigate in such conditions without any extero-ceptive sensing by exploiting collisions instead of treating them as constraints. To this end, we present a novel contact-based inertial odometry (CIO) algorithm: it uses estimated external forces with the environment to detect collisions and generate pseudo-measurements of the robot velocity, enabling autonomous flight. To fully exploit this method, we first perform modeling of a hybrid ground and aerial vehicle which can withstand collisions at moderate speeds, for which we develop an external wrench estimation algorithm. Then, we present our CIO algorithm and develop a reactive planner and control law which encourage exploration by bouncing off obstacles. All components of this framework are validated in hardware experiments and we demonstrate that a quadrotor can traverse a cluttered environment using an IMU only. This work can be used on drones to recover from visual inertial odometry failure or on micro-drones that do not have the payload capacity to carry cameras, LiDARs or powerful computers.
  • Fusing Multi-sensor Input with State Information on TinyML Brains for Autonomous Nano-drones
    Item type: Conference Paper
    Crupi, Luca; Cereda, Elia; Palossi, Daniele (2024)
    Springer Proceedings in Advanced Robotics ~ European Robotics Forum 2024
    Autonomous nano-drones (similar to 10 cm in diameter), thanks to their ultra-low power TinyML-based brains, are capable of coping with real-world environments. However, due to their simplified sensors and compute units, they are still far from the sense-and-act capabilities shown in their bigger counterparts. This system paper presents a novel deep learning-based pipeline that fuses multi-sensorial input (i.e., low-resolution images and 8x8 depth map) with the robot's state information to tackle a human pose estimation task. Thanks to our design, the proposed system - trained in simulation and tested on a real-world dataset - improves a state-unaware State-of-the-Art baseline by increasing the R-2 regression metric up to 0.10 on the distance's prediction.
  • Distributed autonomous robotic systems
    Item type: Conference Proceedings
    (2018)
    Springer Proceedings in Advanced Robotics
  • SCIM: Simultaneous Clustering, Inference, and Mapping for Open-World Semantic Scene Understanding
    Item type: Conference Paper
    Blum, Hermann; Müller, Marcus G.; Gawel, Abel; et al. (2023)
    Springer Proceedings in Advanced Robotics ~ Robotics Research
    In order to operate in human environments, a robot's semantic perception has to overcome open-world challenges such as novel objects and domain gaps. Autonomous deployment to such environments therefore requires robots to update their knowledge and learn without supervision. We investigate how a robot can autonomously discover novel semantic classes and improve accuracy on known classes when exploring an unknown environment. To this end, we develop a general framework for mapping and clustering that we then use to generate a self-supervised learning signal to update a semantic segmentation model. In particular, we show how clustering parameters can be optimized during deployment and that fusion of multiple observation modalities improves novel object discovery compared to prior work. Models, data, and implementations can be found at https://github.com/hermannsblum/scim
  • Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs
    Item type: Conference Paper
    Bodie, Karen; Taylor, Zachary; Kamel, Mina; et al. (2020)
    Springer Proceedings in Advanced Robotics ~ Proceedings of the 2018 International Symposium on Experimental Robotics. ISER 2018
    Omnidirectional MAVs are a growing field, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents VoliroX: a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is presented, and a 6 DOF geometric control that is robust to singularities. Flight experiments further demonstrate and verify its capabilities.
Publications 1 - 10 of 32