We developed an embedded vision system that can accelerate the basic image processing functions for mobile robot navigation with compact hardware featuring low power consumption. The system is composed of a Digital Signal Processor (DSP) and a dedicated LSI for low-level image processing, specifically for spatial filtering, feature extraction, and block matching operations. The image processing LSI has a dedicated systolic array processor consisting of 64 processing elements to accelerate basic block operations for image feature calculation and correlation-based image matching. The power consumption is only 10 W, about one-seventh that of a typical Pentium 4 personal computer, but the processing speed for correlation matching is roughly three times faster than such a system. With this vision system, we implemented a stereo-visionbased navigation algorithm on our mobile service robot and performed a visual navigation experiment in a building hallway.
To study of autonomous control of a space robot, we developed our Advanced Space Robot Testbed with Redundant Arms (ASTRA).Berthing a satellite moving in space is a difficult and dangerous task when done manually. This paper describes a robot which berthed a mockup satellite moving and rotating in zero graviry. Features of the robot include autonomous approach to a moving target satellite using visual satellite motion estimation, using real-time visual tracking control to track satellite handles with two robot a m , and grasping the satellite handles with minimum mechanical shock using a flexible wrist mechanism and impedance control. We ran our satellite berthing experiment on the ASTRA to check its pegomnce.
For space robots telemanipulation, long communication delay, and operator load are serious problems. We have developed a useful off-line robot motion planning system. The operator enters commands using object-level instructions, and low-level actions like path planning, sensor feedback etc. are generated and executed automatically. The command generation and path planning algorithms in this system are original. The path planning algorithm can generate a collision free path in a few seconds using ready-made suggested paths which we call path-templates. The system greatly simplifies the operator's task and also frees the operator from dealing with the communication delay inherent in space robot telemanipulation.
A three dimensional measurement system, which is important for developing autonomous robots is described.Industrial robots used in today's plants are of the preprogrammed teaching playback type. It is necessary to develop autonomous robots which can work based on sensor information for intelligent manufacturing systems. Moreover, practical use of robots which work in unstructured environments such as outdoors and in space is expected. To realize this, a function to measure objects and the environment three-dimensionally is a key technology. Additional important requirements for robotic sensors are real-time processing and compactness.We have developed smart 3-D vision sensors for the purpose of realizing autonomous robots. These are two kinds of sensors with different functions corresponding to the application. One is a slitted light range finder ( SLRF ) to measure stationary objects. The other is a real-time tracking vision ( RTTV ) which can measure moving objects at high speed. SLRF uses multiple slitted lights which are generated by a semiconductor laser through an interference filter and a cylindrical lens. Furthermore, we developed a liquid crystal shutter with multiple electrodes. We devised a technique to make coded slitted light by putting this shutter in front of the light source. As a result, using the principle of triangulation, objects can be measured in three dimensions. In addition, high-speed image input was enabled by projecting multiple slitted light at the same time. We have confirmed the effectiveness of the SLRF applied to a hand-eye system using a robot.The second sensor developed is RTTV. We introduced a special target mark to measure six degrees of freedom at once. It has a white triangle mark on a black circle background. Processing of projections is executed in horizontal and vertical directions for the input images. The centroid of the mark is calculated using the projected images. The deviation is converted to a measured relative position with reference to the camera origin. Furthermore, the orientation of the target is calculated from the positional deviation of the triangular mark from the center of the circle background. Using the RTTV in experiments on rendezvous and docking of a satellite, we established 1384 Downloaded From: http://proceedings.spiedigitallibrary.org/ on 06/22/2016 Terms of Use: http://spiedigitallibrary.org/ss/TermsOfUse.aspx that a robot could capture a moving satellite.
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