Field and Service Robotics- Recent Advances - Yuta S. et al (Eds) Part 1 ppsx

Editorial Advisory BoardEUROPE Herman Bruyninckx, KU Leuven, Belgium Raja Chatila, LAAS, France Henrik Christensen, KTH, Sweden Paolo Dario, Scuola Superiore Sant’Anna Pisa, Italy R¨udig

Springer Tracts in Advanced Robotics Volume 24

Editors: Bruno Siciliano · Oussama Khatib · Frans Groen

Springer Tracts in Advanced Robotics

Edited by B Siciliano, O Khatib, and F Groen

Vol 23: Andrade-Cetto, J,; Sanfeliu, A.

Environment Learning for Indoor Mobile Robots

130 p 2006 [3-540-32795-9]

Vol 22: Christensen, H.I (Ed.)

European Robotics Symposium 2006

209 p 2006 [3-540-32688-X]

Vol 21: Ang Jr., H.; Khatib, O (Eds.)

Experimental Robotics IX

618 p 2006 [3-540-28816-3]

Vol 20: Xu, Y.; Ou, Y.

Control of Single Wheel Robots

188 p 2005 [3-540-28184-3]

Vol 19: Lefebvre, T.; Bruyninckx, H.; De Schutter, J.

Nonlinear Kalman Filtering for Force-Controlled

Robot Tasks

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Multi-point Interaction with Real and Virtual Objects

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Vol 17: Erdmann, M.; Hsu, D.; Overmars, M.;

van der Stappen, F.A (Eds.)

Algorithmic Foundations of Robotics VI

472 p 2005 [3-540-25728-4]

Vol 16: Cuesta, F.; Ollero, A.

Intelligent Mobile Robot Navigation

224 p 2005 [3-540-23956-1]

Vol 15: Dario, P.; Chatila R (Eds.)

Robotics Research { The Eleventh International

Symposium

595 p 2005 [3-540-23214-1]

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Grunwald, G.; Hagele, M.; Dillmann, R.;

Vol 12: Iagnemma K.; Dubowsky, S.

Mobile Robots in Rough Terrain {

Estimation, Motion Planning, and Control

with Application to Planetary Rovers

Vol 8: Baeten, J.; De Schutter, J.

Integrated Visual Servoing and Force Control

191 p 2002 [3-540-44159-X]

S Yuta ž H Asama ž S Thrun ž E Prassler ž T Tsubouchi (Eds.)

Field and Service Robotics

Recent Advances in Reserch and Applications

With 393 Figures

rico II, Via Claudio 21, 80125 Napoli, Italy, email: siciliano@unina.it

Professor Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University,

Stanford, CA 94305-9010, USA, email: khatib@cs.stanford.edu

Professor Frans Groen, Department of Computer Science, Universiteit van Amsterdam, Kruislaan 403, 1098 SJ

Amsterdam, The Netherlands, email: groen@science.uva.nl

Tennoudai 1-1-1 305-8573 Tsukuba, Ibaraki, Japan

Dr Sebastian Thrun

Stanford University

Department of Computer Science

94305-9045 Stanford, USA

ISSN print edition: 1610-7438

ISSN electronic edition: 1610-742X

ISBN-10 3-540-32801-7 Springer Berlin Heidelberg New York

ISBN-13 978-3-540-32801-8 Springer Berlin Heidelberg New York

Library of Congress Control Number: 2006923559

This work is subject to copyright All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in other ways, and storage in data banks Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer Violations are liable to prosecution under German Copyright Law.

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Editorial Advisory Board

EUROPE

Herman Bruyninckx, KU Leuven, Belgium

Raja Chatila, LAAS, France

Henrik Christensen, KTH, Sweden

Paolo Dario, Scuola Superiore Sant’Anna Pisa, Italy

R¨udiger Dillmann, Universit¨at Karlsruhe, Germany

AMERICA

Ken Goldberg, UC Berkeley, USA

John Hollerbach, University of Utah, USA

Lydia Kavraki, Rice University, USA

Tim Salcudean, University of British Columbia, Canada

Sebastian Thrun, Stanford University, USA

ASIA/OCEANIA

Peter Corke, CSIRO, Australia

Makoto Kaneko, Hiroshima University, Japan

Sukhan Lee, Sungkyunkwan University, Korea

Yangsheng Xu, Chinese University of Hong Kong, PRC

Shin’ichi Yuta, Tsukuba University, Japan

STAR (Springer Tracts in Advanced Robotics) has been promoted under the auspices

of EURON (European Robotics Research Network)

ROBOTICSResearchNetwork

At the dawn of the new millennium, robotics is undergoing a major transformation

in scope and dimension From a largely dominant industrial focus, robotics is rapidly expanding into the challenges of unstructured environments Interacting with, assisting, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives

The goal of the new series of Springer Tracts in Advanced Robotics (STAR) is

to bring, in a timely fashion, the latest advances and developments in robotics onthe basis of their significance and quality It is our hope that the widerdissemination of research developments will stimulate more exchanges andcollaborations among the research community and contribute to furtheradvancement of this rapidly growing field

Since its inception in 1996, FSR, the International Conference on Field and

Service Robotics has published archival volumes of high reference value With the

launching of STAR, a more suitable home is found for this and other thematicsymposia devoted to excellence in robotics research

The Fourth edition of Field and Service Robotics edited by Shin’ichi Yuta,

Hajime Asama, Sebastian Thrun, Erwin Prassler and Takashi Tsubouchi offers inits twelve-chapter volume a collection of a broad range of topics in advancedrobotics The contents of these contributions represent a cross-section of thecurrent state of robotics research from one particular aspect: field and serviceapplications, and how they reflect on the theoretical basis of subsequentdevelopments Pursuing technologies aimed at realizing skilful, smart, reliable,robust field and service robots is the big challenge running throughout this focusedcollection

Rich by topics and authoritative contributors, FSR culminates with this uniquereference on the current developments and new directions in field and servicerobotics A fine addition to the series!

In the beginning of 1980's, the robot technology had started to be popular forthe automation in many factories Since then, the role of the robotics has spreadwider and wider Now, robots are expected to take over many human tasks, and towork in various environments And, robots are also expected to perform in thecircumstances, where human cannot stay, such as, deep sea, space or theextremely hazardous places The robot that performs such tasks is called “fieldrobot” These abilities have brought new activities to human Beside such anindirect assist to human, the robots are also requested to help people more directly.This concept is called "service robot” Various service tasks for daily life havebeen investigated and many prototypes have already been implemented

The advanced technology will be the base of people's daily life and society in

21 century, and we believe that the robotics will take an important and dominantpart However, we know that huge amounts of technical advancement are stillnecessary to realize the reliable and useful robots, which work in various realenvironments or support our daily life It is still the big challenge to realize skillful,smart, reliable, and robust field and service robots, and we have to pursue thistechnology

The series of the International Conference on Field and Service Roboticsstarted 1996 in Australia and have been held biannually in different continents, tostimulate and make progress of the research on this important subject

The conferences are steered by FSR Permanent Organizing Committee (POC),which have the members of:

Hajime Asama, John Bares, Raja Chatila, Peter Corke, Aarne Halme, JohnHollerbach, Oussama Khatib, Christian Laugier, John Leonard, EduardoNebot, Roland Siegwart, Chuck Thorpe, Kazuya Yoshida, Shin'ichi Yuta,and Alex Zelinsky

The fourth FSR conference was held in Lake Yamanaka where is on the foot of

Mt Fuji in Japan, on 14-16 July 2003

In this conference, 49 original papers were selected and presented in track way, among 68 originally submitted papers, besides 4 invited/special talks.These presented papers and invited talks have demonstrated the recent advances inresearch and applications of field and service robotics in the world More than 70participants had actively discussed on all presentations and exchanged theiropinion on both this particular theme and the direction of the robotics research, at:sessions, coffee breaks, mealtimes and on the occasion of excursion, banquet or inJapanese hot-spring public bath

single-For the scientific program of this conference, the program committee requested

to authors to provide information of their research and their opinion such as:Exact targeted service and field,

Realized basis (Theoretical/Experimental/Applied),

Complexity of the working environment and achieving task, and

Estimated years until real use,

for selecting the proper papers, when they submitted their papers

This book is the collection of the papers, which are presented at the conferenceand revised after these presentation and discussions We believe that they areinformative and useful to see the state of the art in this important and interestingsubject

At last, we are grateful to all participants for their contribution to have madethis conference meaningful Also, for their great help, we thank programcommittee members, which include POC members and,

Erwin Prassler, Paolo Fiorini, Gisbert Lawitzky, Bruno Siciliano, GerdHirzinger, Ben Kroese, Carlos Balaguer, and Friedrich Wahl, from Europe,Dieter Fox, Frank Dellaert, Matthew Deans, Roberto Manduchi, HowieChoset, Alonzo Kelly, Gurav Sukhatme, Daniela Rus, Christoph Mertz andVijay Kumar, from USA, and

Makoto Mizukawa, Kazuhiro Kosuge, Tamio Arai, Satoshi Tadokoro,Shigeo Hirose, Toshio Fukuda, Yasushi Nakauchi, Yoshiki Shimomura,Koichi Osuka, Fumitoshi Matsuno, Takashi Tsubouchi, Alex Zelinsky,Kiyoshi Komoriya, and Seungho Kim, from Asia

Finally we sincerely appreciate Dr Kuniaki Kawabata, Dr Shigeru Sarata and

Dr Hironori Adachi for their great contribution to operate the conference and editthe Proceedings

Hajime Asama Sebastian Thrun Erwin Prassler Takashi Tsubouchi

Part 2 – Indoor Navigation

Indoor Navigation for Mobile Robot by Using Environment-Embedded

Tsuyoshi Suzuki, Taiki Uehara, Kuniaki Kawabata, Daisuke Kurabayashi, Igor E Paromtchik, and Hajime Asama

Elliot S Duff and Jonathan M Robert

Kane Usher, Peter Corke, and Peter Ridley

Boris Kluge and Erwin Prassler

Part 3 – Rough Terrain Navigation

Learning Predictions of the Load-Bearing Surface for Autonomous

Carl Wellington and Anthony Stentz

Stefan Williams and Ian Mahon

Experimental Results in Using Aerial LADAR Data for Mobile Robot

Nicolas Vandapel, Raghavendra Donamukkala, and Martial Hebert

Autonomous Detection of Untraversability of the Path on Rough Terrain

Kazuma Hashimoto and Shin'ichi Yuta

Libor Přeučil and Roman Mázl

Andrew Howard, Sajid Siddiqi, and Gaurav S Sukhatme

MALOC - Medial Axis LOCalization in Unstructured Dynamic

Michael Fiegert and Charles-Marie De Graeve

Part 5 – Mapping and Tracking

Robert Zlot and Anthony Stentz

Decentralised SLAM with Low-Bandwidth Communication for Teams of

Eric Nettleton, Sebastian Thrun, Hugh Durrant-Whyte, and Salah Sukkarieh

Case Studies of a Borehole Deployable Robot for Limestone Mine

Aaron Morris, Derek Kurth, Daniel Huber, William Whittaker, and Scott Thayer

Bayesian Programming for Multi-target Tracking: An Automotive

Christophe Coué, Cédric Pradalier, and Christian Laugier

Frédéric Bourgault, Tomonari Furukawa, and Hugh F Durrant-Whyte

Part 6 – Rough Terrain Locomotion

Terramechanics-Based Analysis and Traction Control of a

Kazuya Yoshida, Toshinobu Watanabe, Noriyuki Mizuno, and Genya Ishigami

Michel Lauria, Steven Shooter, and Roland Siegwart

Development of a Control System of an Omni-directional Vehicle with a

Daisuke Chugo, Kuniaki Kawabata, Hayato Kaetsu, Hajime Asama, and Taketoshi Mishima

Yasushi Mae, Tatsuhi Mure, Kenji Inoue, Tatsuo Arai, and Noriho Koyachi

Part 7 – Helicopters and Air Vehicles

Gregg Buskey, Jonathan Roberts, and Gordon Wyeth

Srikanth Saripalli and Gaurav S Sukhatme

Sebastian Thrun, Mark Diel, and Dirk Hähnel

Real-time Navigation, Guidance, and Control of a UAV Using Low-Cost

Jong-Hyuk Kim, Salah Sukkarieh, and Stuart Wishart

Ali Haydar Göktoğan, Graham Brooker, and Salah Sukkarieh

Part 8 – Mobility and Manipulation

Shraga Shoval and Moshe Shoham

Teleoperation System for Two Tracked Mobile Robots Transporting a

Hiroki Takeda, Zhi-Dong Wang, and Kazuhiro Kosuge

Development of a Terrain Adaptive Stability Prediction for Mass

Antonio Diaz-Calderon and Alonzo Kelly

Sungchul Kang, Changhyun Cho, Changwoo Park, Jonghwa Lee, Dongseok Ryu, and Munsang Kim

Part 9 – Human-Robot Interaction

Towards Safer Roads by Integration of

Lars Petersson and Alexander Zelinsky

Aarne Halme, Jouni Sievilä, Ilkka Kauppi, and Sami Ylönen

A Multi-purpose Eight-Legged Robot Developed for

Takashi K Saito, Itsuro Saito, Nobuyuki Nemoto, Koki Takiura, Toshinaga Ozeki, Naoto Kakuta, Takahiro Tohyama, Takashi Isoyama, and Tsuneo Chinzei

Jussi Suomela, Jari Saarinen, Aarne Halme, and Panu Harmo

Part 10 – Health Care and Service Tasks

Light Weight Autonomous Climbing Robot for Elderly and Disabled

Carlos Balaguer, Aantonio Giménez, Alberto Jardón, Raúl Correal, Ramiro Cabas, and Pavel Staroverov

Nicholas Roy, Geoffrey Gordon, and Sebastian Thrun

Jun Miura, Yoshiaki Shirai, Nobutaka Shimada, Yasushi Makihara,

Masao Takizawa, and Yoshio Yano

Jackrit Suthakorn, Sangyoon Lee, Yu Zhou, Sayeed Choudhury, and Gregory S Chirikjian

XIV Contents

International Contest for Cleaning Robots: Fun Event or a First Step

Erwin Prassler, Martin Hägele, and Roland Siegwart

Part 11 – Mining

Dragline Automation: Experimental Evaluation Through Productivity

Peter Corke, Graeme Winstanley, Matthew Dunbabin, and Jonathan Roberts

David C Reid, David W Hainsworth, Jonathon C Ralston, and Ronald J McPhee

Development of an Autonomous Conveyor-Bolting Machine for the

Jonathon C Ralston, Chad O Hargrave, and David W Hainsworth

Christopher Baker, Zachary Omohundro, Scott Thayer, William Whittaker, Mike Montemerlo, and Sebastien Thrun

Daniel F Huber and Nicolas Vandapel

Part 12 – Rescue and Agricultural Applications

Development of Pneumatically Controlled Expandable Arm for Search in

Daisuke Mishima, Takeshi Aoki, and Shigeo Hirose

Development of Mobile Robots for Search and Rescue Operation Systems 519

Akihiro Ikeuchi, Toshi Takamori, Shigeru Kobayashi, Masayuki Takashima, Shiro Takashima, and Masatoshi Yamada

George Kantor, Sanjiv Singh, Ronald Peterson, Daniela Rus, Aveek Das, Vijay Kumar, Guilherme Pereira, and John Spletzer

Yuichi Ogawa, Naoshi Kondo, Mitsuji Monta, and Sakae Shibusawa

XVI Contents

Michel Tạèx, Philippe Souères, Helene Frayssinet, and Lionel Cordesses

Abstract In this article, we first introduce a new research model proposed by the Science

Council of Japan in 1999[1][2] The model was proposed based on how research is carried out and how the research is integrated with our society as a culture We consider what the Field and Service Robotics is, and introduce the Service RT Systems as a type of the field and service robots Several examples illustrate the relation between the RT Systems and the Robotics Research.

1 Introduction

More than thirty years have passed since robots have been utilized in industries

as industrial robots The Robot Technology, which has been developed throughthe development of the industrial robots, is applicable to many fields outside offactories The “Robot Technology” is abbreviated as “RT” in this article[3][4][5].The RT includes technologies relating to physical interactions between the systemsand their environments, while IT(Information Technology) mainly deals with theinformation

In this article, we first introduce a research model, which explains how research

is carried out and how the research is integrated with our society as a culture Theresearch model was proposed by the Third Committee of the 17th Science Council

of Japan in 1999 The robotic research seems to be explained by the model very well.The RT systems are intelligent systems, which have interactions with the real worldand which the RT is embedded in The Service RT Systems is one of the outcomes

of the robotic research in the real world

We have been developing robot helpers and robot technologies necessary for therealization of the robot helpers in future We introduce some of the robot helpersand robot technologies developed for them, then, discuss how the robot technologieshave been applied to real world problems as the Service RT Systems, which includes

an application in a construction site and several assist RT systems Finally, we discuss

a future direction of the Service RT Systems necessary for the aging society which

we are facing now

S Yuta et al (Eds.): Field and Service Robotics, STAR 24, pp 3–12, 2006.

© Springer-Verlag Berlin Heidelberg 2006

4 K Kosuge

2 New Research Model and Field and Service Robotics

As mentioned above, a new research paradigm has been proposed by The ThirdCommittee, The 17th Science Council of Japan, in the report[1], entitled as “Toward

a new research paradigm” in April, 1999 The chair of the committee was ProfessorShun-ichi Iwasaki who proposed the perpendicular magnetic recording is 1975 Theresearch model is said to have been developed based on his experience as a researcherwhen he invented the perpendicular magnetic recording The concept is also included

in his own article[2] In the report, the research has been classified into three phasesbased on the mental process of researchers in performing actual research as shown

in fig 1

1 Creation Model Research(First Model Research)

Proposal of hypothesis and verification,

which is characterized by the words, “Original”, “Unconventional”, nize/Discover”, and “Noncompetitive.”

“Rcog-2 Development Model Research(Second Model Research)

Standardization and Popularization of the Creation Model Research,

which is characterized by the words, “Precise”, “Objective”,“Design/Make” and

“Competitive.”

3 Integration Model Research(Third Model Research)

Integration with the real world,

which is characterized by the words, “Social”, “Humanity”, “Ethical” and operative.”

“Co-In the report, it is also noted that practical research might be the Creation ModelResearch and scientific research might be the Development Model Research Itdepends on the nature of the research which model the research belongs to.Most of the research in robotics seems to be categorized as the Creation ModelResearch and the Development Model Research Some of researches in robotics,

Fig 1 Model research proposed in [1] and [2]