Terrain Modeling and Following Using a Compliant Manipulator for Humanitarian Demining Applications. Freese, M., Singh, S. P. N., Singhose, W., Fukushima, E., & Hirose, S. In Howard, A., Iagnemma, K., & Kelly, A., editors, Field and Service Robotics, volume 62, of Springer Tracts in Advanced Robotics, pages 3-12, 2010. Springer. 10.1007/978-3-642-13408-1_1Paper abstract bibtex Operations with flexible, compliant manipulators over large workspaces relative to the manipulator are complicated by noise, vibration, and measurement bias. These difficulties are compounded in unstructured environments, such as those encountered in humanitarian demining. By taking advantage of the static structure of the terrain and the manipulator�s fundamental mechanical characteristics, a series of adaptive corrections and filters refine noisy topographical measurements. These filters along with a shaped actuation scheme can generate smooth and well-controlled trajectories that allow for terrain surface following. Experimental testing was performed on a field robot with a compliant, 3 m long hybrid manipulator and a stereo vision system. The proposed method provides a vertical tracking precision of �5 mm on a variety of ground clearings, with tip scanning speeds of up to 0.5 m/s. As such, it can agilely move the attached sensor(s) through precise scanning trajectories that are very close to the ground. This method improves overall detection and generation of precise maps of suspected mine locations.
@INPROCEEDINGS{demining.fsr,
author = {M. Freese and S. P. N. Singh and W. Singhose and E. Fukushima and
S. Hirose},
title = {Terrain Modeling and Following Using a Compliant Manipulator for
Humanitarian Demining Applications},
booktitle = {Field and Service Robotics},
year = {2010},
editor = {Howard, Andrew and Iagnemma, Karl and Kelly, Alonzo},
volume = {62},
series = {Springer Tracts in Advanced Robotics},
pages = {3-12},
publisher = {Springer},
note = {10.1007/978-3-642-13408-1_1},
abstract = {Operations with flexible, compliant manipulators over large workspaces
relative to the manipulator are complicated by noise, vibration,
and measurement bias. These difficulties are compounded in unstructured
environments, such as those encountered in humanitarian demining.
By taking advantage of the static structure of the terrain and the
manipulator�s fundamental mechanical characteristics, a series of
adaptive corrections and filters refine noisy topographical measurements.
These filters along with a shaped actuation scheme can generate smooth
and well-controlled trajectories that allow for terrain surface following.
Experimental testing was performed on a field robot with a compliant,
3 m long hybrid manipulator and a stereo vision system. The proposed
method provides a vertical tracking precision of �5 mm on a variety
of ground clearings, with tip scanning speeds of up to 0.5 m/s. As
such, it can agilely move the attached sensor(s) through precise
scanning trajectories that are very close to the ground. This method
improves overall detection and generation of precise maps of suspected
mine locations.},
affiliation = {Tokyo Institute of Technology Department of Mechanical and Aerospace
Eng.},
fauthor = {Freese, Marc and Singh, Surya and Singhose, William and Fukushima,
Edwardo and Hirose, Shigeo},
pdf = {demining.fsr.pdf},
url = {http://dx.doi.org/10.1007/978-3-642-13408-1_1}
}
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P. N.","Singhose, W.","Fukushima, E.","Hirose, S."],"bibbaseid":"freese-singh-singhose-fukushima-hirose-terrainmodelingandfollowingusingacompliantmanipulatorforhumanitariandeminingapplications-2010","bibdata":{"bibtype":"inproceedings","type":"inproceedings","author":[{"firstnames":["M."],"propositions":[],"lastnames":["Freese"],"suffixes":[]},{"firstnames":["S.","P.","N."],"propositions":[],"lastnames":["Singh"],"suffixes":[]},{"firstnames":["W."],"propositions":[],"lastnames":["Singhose"],"suffixes":[]},{"firstnames":["E."],"propositions":[],"lastnames":["Fukushima"],"suffixes":[]},{"firstnames":["S."],"propositions":[],"lastnames":["Hirose"],"suffixes":[]}],"title":"Terrain Modeling and Following Using a Compliant Manipulator for Humanitarian Demining Applications","booktitle":"Field and Service Robotics","year":"2010","editor":[{"propositions":[],"lastnames":["Howard"],"firstnames":["Andrew"],"suffixes":[]},{"propositions":[],"lastnames":["Iagnemma"],"firstnames":["Karl"],"suffixes":[]},{"propositions":[],"lastnames":["Kelly"],"firstnames":["Alonzo"],"suffixes":[]}],"volume":"62","series":"Springer Tracts in Advanced Robotics","pages":"3-12","publisher":"Springer","note":"10.1007/978-3-642-13408-1_1","abstract":"Operations with flexible, compliant manipulators over large workspaces relative to the manipulator are complicated by noise, vibration, and measurement bias. These difficulties are compounded in unstructured environments, such as those encountered in humanitarian demining. By taking advantage of the static structure of the terrain and the manipulator�s fundamental mechanical characteristics, a series of adaptive corrections and filters refine noisy topographical measurements. These filters along with a shaped actuation scheme can generate smooth and well-controlled trajectories that allow for terrain surface following. Experimental testing was performed on a field robot with a compliant, 3 m long hybrid manipulator and a stereo vision system. The proposed method provides a vertical tracking precision of �5 mm on a variety of ground clearings, with tip scanning speeds of up to 0.5 m/s. As such, it can agilely move the attached sensor(s) through precise scanning trajectories that are very close to the ground. 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Hirose},\r\n title = {Terrain Modeling and Following Using a Compliant Manipulator for\r\n\tHumanitarian Demining Applications},\r\n booktitle = {Field and Service Robotics},\r\n year = {2010},\r\n editor = {Howard, Andrew and Iagnemma, Karl and Kelly, Alonzo},\r\n volume = {62},\r\n series = {Springer Tracts in Advanced Robotics},\r\n pages = {3-12},\r\n publisher = {Springer},\r\n note = {10.1007/978-3-642-13408-1_1},\r\n abstract = {Operations with flexible, compliant manipulators over large workspaces\r\n\trelative to the manipulator are complicated by noise, vibration,\r\n\tand measurement bias. These difficulties are compounded in unstructured\r\n\tenvironments, such as those encountered in humanitarian demining.\r\n\tBy taking advantage of the static structure of the terrain and the\r\n\tmanipulator�s fundamental mechanical characteristics, a series of\r\n\tadaptive corrections and filters refine noisy topographical measurements.\r\n\tThese filters along with a shaped actuation scheme can generate smooth\r\n\tand well-controlled trajectories that allow for terrain surface following.\r\n\tExperimental testing was performed on a field robot with a compliant,\r\n\t3 m long hybrid manipulator and a stereo vision system. The proposed\r\n\tmethod provides a vertical tracking precision of �5 mm on a variety\r\n\tof ground clearings, with tip scanning speeds of up to 0.5 m/s. As\r\n\tsuch, it can agilely move the attached sensor(s) through precise\r\n\tscanning trajectories that are very close to the ground. This method\r\n\timproves overall detection and generation of precise maps of suspected\r\n\tmine locations.},\r\n affiliation = {Tokyo Institute of Technology Department of Mechanical and Aerospace\r\n\tEng.},\r\n fauthor = {Freese, Marc and Singh, Surya and Singhose, William and Fukushima,\r\n\tEdwardo and Hirose, Shigeo},\r\n pdf = {demining.fsr.pdf},\r\n url = {http://dx.doi.org/10.1007/978-3-642-13408-1_1}\r\n}\r\n\r\n","author_short":["Freese, M.","Singh, S. P. 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