Visual sensing for developing autonomous behavior in snake robots

Ponte, Hugo; Queenan, Max; Gong, Chaohui; Mertz, Christoph; Travers, Matthew; Enner, Florian; Hebert, Martial; Choset, Howie

doi:10.1109/icra.2014.6907257

Cited by 33 publications

(14 citation statements)

References 17 publications

(29 reference statements)

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“…The localization problem of relating the snake to the environment is described in [16]. Therefore, we begin the planning problem using the known location and orientation of an obstacle, in this case a pipe, relative to the base of the snake robot.…”

Section: Cost Function Dmentioning

confidence: 99%

Planning end effector trajectories for a serially linked, floating-base robot with changing support polygon

Cappo

Choset

2014

2014 American Control Conference

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Abstract-We present a framework for the planning of end effector trajectories for serially linked robots with a non-fixed, also known as floating, support base. The FBSR (Floating Base, Serial Reach) planning algorithm extends the capabilities of serially linked, floating-base robots by planning to maintain stability while transferring modules from a weight-bearing role to the active, manipulator-like portion of the robot as needed to extend the robot's reach. During planning, we employ several methods such as random restarts and dynamic weighting of the optimization cost function sub-goals to reliably provide stable solution trajectories. We experimentally validate this algorithm on a 16 degree of freedom snake robot, and demonstrate the successful execution of generated plans.

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Section: Cost Function Dmentioning

confidence: 99%

Planning end effector trajectories for a serially linked, floating-base robot with changing support polygon

Cappo

Choset

2014

2014 American Control Conference

Self Cite

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“…The work in [68] focuses on increasing the snake robot's autonomy, which is demonstrated by autonomous pole climbing. This is a complex behaviour to be achieved by teleoperation.…”

Section: Survey Of Environment Perception For Locomotion In Snake Robotsmentioning

confidence: 99%

Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities †

et al. 2017

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In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. In order to carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e., perception-driven locomotion) and be capable of efficient obstacle exploitation (i.e., obstacle-aided locomotion) to gain propulsion. These aspects are pivotal in order to realise the large variety of possible snake robot applications in real-life operations such as fire-fighting, industrial inspection, search-and-rescue, and more. In this paper, we survey and discuss the state of the art, challenges, and possibilities of perception-driven obstacle-aided locomotion for snake robots. To this end, different levels of autonomy are identified for snake robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, we present a step-wise approach on how to increment snake robot abilities within guidance, navigation, and control in order to target the different levels of autonomy. Pertinent to snake robots, we focus on current strategies for snake robot locomotion in the presence of obstacles. Moreover, we put obstacle-aided locomotion into the context of perception and mapping. Finally, we present an overview of relevant key technologies and methods within environment perception, mapping, and representation that constitute important aspects of perception-driven obstacle-aided locomotion.

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“…New and robust sensing capabilities are needed to provide robotic systems with reasoning and autonomous thinking [15,16], where these capabilities have to reliably perceive the robot workspace under real working conditions. There are numerous sensing techniques that can be adopted to perceive the robot’s surroundings, such as ultrasonic [17] and laser [18]. Nevertheless, machine vision [15] is an approachable strategy with satisfactory performance and affordable cost, based on the use of optical cameras with real-time image processing.…”

Section: Introductionmentioning

confidence: 99%

Smart Sensing and Adaptive Reasoning for Enabling Industrial Robots with Interactive Human-Robot Capabilities in Dynamic Environments—A Case Study

Zabalza

Fei

Wong

et al. 2019

Sensors

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Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a case study in which a robotic manipulator, namely a KUKA KR90 R3100, is provided with smart sensing capabilities such as vision and adaptive reasoning for real-time collision avoidance and online path planning in dynamically-changing environments. A machine vision module based on low-cost cameras and color detection in the hue, saturation, value (HSV) space is developed to make the robot aware of its changing environment. Therefore, this vision allows the detection and localization of a randomly moving obstacle. Path correction to avoid collision avoidance for such obstacles with robotic manipulator is achieved by exploiting an adaptive path planning module along with a dedicated robot control module, where the three modules run simultaneously. These sensing/smart capabilities allow the smooth interactions between the robot and its dynamic environment, where the robot needs to react to dynamic changes through autonomous thinking and reasoning with the reaction times below the average human reaction time. The experimental results demonstrate that effective human-robot and robot-robot interactions can be realized through the innovative integration of emerging sensing techniques, efficient planning algorithms and systematic designs.

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Visual sensing for developing autonomous behavior in snake robots

Cited by 33 publications

References 17 publications

Planning end effector trajectories for a serially linked, floating-base robot with changing support polygon

Planning end effector trajectories for a serially linked, floating-base robot with changing support polygon

Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities †

Smart Sensing and Adaptive Reasoning for Enabling Industrial Robots with Interactive Human-Robot Capabilities in Dynamic Environments—A Case Study

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