With the introduction of the Microsoft Kinect for Windows v2 (Kinect v2), an exciting new sensor is available to robotics and computer vision researchers. Similar to the original Kinect, the sensor is capable of acquiring accurate depth images at high rates. This is useful for robot navigation as dense and robust maps of the environment can be created. Opposed to the original Kinect working with the structured light technology, the Kinect v2 is based on the time-of-flight measurement principle and might also be used outdoors in sunlight. In this paper, we evaluate the application of the Kinect v2 depth sensor for mobile robot navigation. The results of calibrating the intrinsic camera parameters are presented and the minimal range of the depth sensor is examined. We analyze the data quality of the measurements for indoors and outdoors in overcast and direct sunlight situations. To this end, we introduce empirically derived noise models for the Kinect v2 sensor in both axial and lateral directions. The noise models take the measurement distance, the angle of the observed surface, and the sunlight incidence angle into account. These models can be used in post-processing to filter the Kinect v2 depth images for a variety of applications.

Standard-Nutzungsbedingungen:Die Dokumente auf EconStor dürfen zu eigenen wissenschaftlichen Zwecken und zum Privatgebrauch gespeichert und kopiert werden.Sie dürfen die Dokumente nicht für öffentliche oder kommerzielle Zwecke vervielfältigen, öffentlich ausstellen, öffentlich zugänglich machen, vertreiben oder anderweitig nutzen.Sofern die Verfasser die Dokumente unter Open-Content-Lizenzen (insbesondere CC-Lizenzen) zur Verfügung gestellt haben sollten, gelten abweichend von diesen Nutzungsbedingungen die in der dort genannten Lizenz gewährten Nutzungsrechte. Inter-American Development Bank. This work is licensed under a Creative Commons IGO 3.0 AttributionNonCommercial-NoDerivatives (CC-IGO BY-NC-ND 3.0 IGO) license (http://creativecommons.org/licenses/by-nc-nd/3.0/igo/ legalcode) and may be reproduced with attribution to the IDB and for any non-commercial purpose, as provided below. No derivative work is allowed. Terms of use: Documents inAny dispute related to the use of the works of the IDB that cannot be settled amicably shall be submitted to arbitration pursuant to the UNCITRAL rules. The use of the IDB's name for any purpose other than for attribution, and the use of IDB's logo shall be subject to a separate written license agreement between the IDB and the user and is not authorized as part of this CC-IGO license.Following a peer review process, and with previous written consent by the Inter-American Development Bank (IDB), a revised version of this work may also be reproduced in any academic journal, including those indexed by the American Economic Association's EconLit, provided that the IDB is credited and that the author(s) receive no income from the publication. Therefore, the restriction to receive income from such publication shall only extend to the publication's author(s). With regard to such restriction, in case of any inconsistency between the Creative Commons IGO 3.0 Attribution-NonCommercial-NoDerivatives license and these statements, the latter shall prevail.Note that link provided above includes additional terms and conditions of the license.The opinions expressed in this publication are those of the authors and do not necessarily reflect the views of the Inter-American Development Bank, its Board of Directors, or the countries they represent.http://www.iadb.org 2015 Abstract * Fluctuations in commodity prices are an important driver of business cycles in small emerging market economies (EMEs). This paper documents how these fluctuations correlate strongly with the business cycle in EMEs. A commodity sector is then embedded into a multi-country EMEs business cycle model where exogenous fluctuations in commodity prices follow a common dynamic factor structure and coexist with other driving forces. The estimated model assigns to commodity shocks 42 percent of the variance in income, of which a considerable part is linked to the common factor. A further amplification mechanism is a spillover effect from commodity prices to risk premia. JEL classifications: E32, F41, F44

Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other planets. Suitable platforms require flexible and robust hardware, a locomotion approach that allows for navigating a wide variety of terrains, dexterous manipulation capabilities, and respective user interfaces. We present the CENTAURO system which has been designed for these requirements and consists of the Centauro robot and a set of advanced operator interfaces with complementary strength enabling the system to solve a wide range of realistic mobile manipulation tasks. The robot possesses a centaur-like body plan and is driven by torquecontrolled compliant actuators. Four articulated legs ending in steerable wheels allow for omnidirectional driving as well as for making steps. An anthropomorphic upper body with two arms ending in five-finger hands enables human-like manipulation. The robot perceives its environment through a suite of multimodal sensors. The resulting platform complexity goes beyond the complexity of most known systems which puts the focus on a suitable operator interface. An operator can control the robot through a telepresence suit, which allows for flexibly solving a large variety of mobile manipulation tasks. Locomotion and manipulation functionalities on different levels of autonomy support the operation. The proposed user interfaces enable solving a wide variety of tasks without previous task-specific training. The integrated system is evaluated in numerous teleoperated experiments that are described along with lessons learned. 3D laser scanner Cameras RGB-D sensor 7 DoF arm 9 DoF dexterous hand 1 DoF soft hand 5 DoF leg 360°steerable wheel Base with CPUs, router and battery Figure 1: The Centauro robot. IntroductionCapable mobile manipulation robots are desperately needed in environments which are inaccessible or dangerous for humans. Missions include construction and maintenance of manned and unmanned stations, as well as exploration of unknown environments on the moon and other planets. Furthermore, such systems can be employed in search and rescue missions on earth. It applies to all these missions that human deployment is impossible or dangerous, and depends on extensive logistical and financial effort.To address the wide range of possible tasks, a suitable platform needs to provide a wide range of capabilities. Regarding locomotion, exemplary tasks are to overcome a variety of obstacles which can occur on planetary surfaces and in man-made environments, e.g., in space stations. Regarding manipulation, tasks may be to use power tools, to physically connect and disconnect objects such as electrical plugs, or to scan surfaces, e.g., for radiation. Since maintenance is not possible during missions, a high hardware and software reliability is necessary. Furthermore, suitable operator interfaces are key to enable the control of a system that must solve suc...

Mobile manipulation tasks are one of the key challenges in the field of search and rescue (SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the tasks are mostly unknown in advance, the robot has to adapt to a wide variety of terrains and workspaces during a mission. The centaur-like robot Centauro has a hybrid legged-wheeled base and an anthropomorphic upper body to carry out complex tasks in environments too dangerous for humans. Due to its high number of degrees of freedom, controlling the robot with direct teleoperation approaches is challenging and exhausting. Supervised autonomy approaches are promising to increase quality and speed of control while keeping the flexibility to solve unknown tasks. We developed a set of operator assistance functionalities with different levels of autonomy to control the robot for challenging locomotion and manipulation tasks. The integrated system was evaluated in disaster response scenarios and showed promising performance. 2 https://newsroom.toyota.co.jp/en/download/ 20110424 arXiv:1809.06802v2 [cs.RO]

Standard-Nutzungsbedingungen:Die Dokumente auf EconStor dürfen zu eigenen wissenschaftlichen Zwecken und zum Privatgebrauch gespeichert und kopiert werden.Sie dürfen die Dokumente nicht für öffentliche oder kommerzielle Zwecke vervielfältigen, öffentlich ausstellen, öffentlich zugänglich machen, vertreiben oder anderweitig nutzen.Sofern die Verfasser die Dokumente unter Open-Content-Lizenzen (insbesondere CC-Lizenzen) zur Verfügung gestellt haben sollten, gelten abweichend von diesen Nutzungsbedingungen die in der dort genannten Lizenz gewährten Nutzungsrechte. Inter-American Development Bank. This work is licensed under a Creative Commons IGO 3.0 AttributionNonCommercial-NoDerivatives (CC-IGO BY-NC-ND 3.0 IGO) license (http://creativecommons.org/licenses/by-nc-nd/3.0/igo/ legalcode) and may be reproduced with attribution to the IDB and for any non-commercial purpose, as provided below. No derivative work is allowed. Terms of use: Documents inAny dispute related to the use of the works of the IDB that cannot be settled amicably shall be submitted to arbitration pursuant to the UNCITRAL rules. The use of the IDB's name for any purpose other than for attribution, and the use of IDB's logo shall be subject to a separate written license agreement between the IDB and the user and is not authorized as part of this CC-IGO license.Following a peer review process, and with previous written consent by the Inter-American Development Bank (IDB), a revised version of this work may also be reproduced in any academic journal, including those indexed by the American Economic Association's EconLit, provided that the IDB is credited and that the author(s) receive no income from the publication. Therefore, the restriction to receive income from such publication shall only extend to the publication's author(s). With regard to such restriction, in case of any inconsistency between the Creative Commons IGO 3.0 Attribution-NonCommercial-NoDerivatives license and these statements, the latter shall prevail.Note that link provided above includes additional terms and conditions of the license.The opinions expressed in this publication are those of the authors and do not necessarily reflect the views of the Inter-American Development Bank, its Board of Directors, or the countries they represent.http://www.iadb.org 2015 Abstract * Fluctuations in commodity prices are an important driver of business cycles in small emerging market economies (EMEs). This paper documents how these fluctuations correlate strongly with the business cycle in EMEs. A commodity sector is then embedded into a multi-country EMEs business cycle model where exogenous fluctuations in commodity prices follow a common dynamic factor structure and coexist with other driving forces. The estimated model assigns to commodity shocks 42 percent of the variance in income, of which a considerable part is linked to the common factor. A further amplification mechanism is a spillover effect from commodity prices to risk premia. JEL classifications: E32, F41, F44

Robots acting in open environments need to be able to handle novel objects. Based on the observation that objects within a category are often similar in their shapes and usage, we propose an approach for transferring grasping skills from known instances to novel instances of an object category. Correspondences between the instances are established by means of a non-rigid registration method that combines the Coherent Point Drift approach with subspace methods.The known object instances are modeled using a canonical shape and a transformation which deforms it to match the instance shape. The principle axes of variation of these deformations define a low-dimensional latent space. New instances can be generated through interpolation and extrapolation in this shape space. For inferring the shape parameters of an unknown instance, an energy function expressed in terms of the latent variables is minimized. Due to the class-level knowledge of the object, our method is able to complete novel shapes from partial views. Control poses for generating grasping motions are transferred efficiently to novel instances by the estimated non-rigid transformation.

Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, robots are promising to perform mission tasks from a safe distance. In the CENTAURO project, we developed a disaster-response system which consists of the highly flexible Centauro robot and suitable control interfaces including an immersive telepresence suit and support-operator controls on different levels of autonomy.In this article, we give an overview of the final CENTAURO system. In particular, we explain several highlevel design decisions and how those were derived from requirements and extensive experience of Kerntechnische Hilfsdienst GmbH, Karlsruhe, Germany (KHG) 1 . We focus on components which were recently integrated and report about a systematic evaluation which demonstrated system capabilities and revealed valuable insights.

Humanoid robotics research depends on capable robot platforms, but recently developed advanced platforms are often not available to other research groups, expensive, dangerous to operate, or closed-source. The lack of available platforms forces researchers to work with smaller robots, which have less strict dynamic constraints or with simulations, which lack many real-world effects. We developed NimbRo-OP2X to address this need. At a height of 135 cm our robot is large enough to interact in a human environment. Its low weight of only 19 kg makes the operation of the robot safe and easy, as no special operational equipment is necessary. Our robot is equipped with a fast onboard computer and a GPU to accelerate parallel computations. We extend our already opensource software by a deep-learning based vision system and gait parameter optimisation. The NimbRo-OP2X was evaluated during RoboCup 2018 in Montreál, Canada, where it won all possible awards in the Humanoid AdultSize class.