Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedET3 Pegaso B Wednesday, October 10, 2012, 15:00–16:00
Outdoor, Search and Rescue Robotics II
Chair Robin Murphy, Texas A&M
Co-Chair Shigeo Hirose, Tokyo Inst. of Tech.
15:00–15:15 WedET3.1
Design and Calibration of Large Microphone
Arrays for Robotic Applications
Florian Perrodin, Janosch Nikolic, Joël Busset and
Roland Siegwart
Autonomous System Lab, ETH Zürich, Switzerland
• Presentation of a modular design
for large embedded microphone
arrays, example of a 64-elements
microphone array.
• Automatic shape calibration
algorithm for 2D or 3D arrays in
non-controlled (reverberant)
conditions.
• Application in precise acoustic
imaging as well as high-gain
sound amplification.
• Robotics applications include
search and rescue, complex
acoustic scenes understanding
and sound-based multi-user
interface.
Design of 64-elements
planar microphone array
15:30–15:45 WedET3.3
Crank-wheel:
A Brand New Mobile Base for Field Robots
Hisami Nakano and Shigeo Hirose
Dept. of Mechano-Aerospace Engineering,
Tokyo Institute of Technoloty, Japan
• We propose crank-wheel mechanism ,
which is simple and has high mobility on
rough terrain.
• The coupler link is connected to front-rear
wheel by revolute joints.
• We developed the prototype
• Basic performance of the prototype is
discussed
Crank-wheel robot
15:15–15:30 WedET3.2
Development of Multi-wheeled Snake-like
Rescue Robots with Active Elastic Trunk
Kousuke Suzuki, Atsushi Nakano, Gen Endo and Shigeo Hirose
Dept. of Mechano-Aerospace Engineering,
Tokyo Institute of Technoloty, Japan
• We propose multi-wheeled snake-like
rescue robots with active elastic trunk
• The trunk driven by cables satisfies both
active bending motion and passive
compliance
• We developed three prototypes “Souryu-
VII”, “Souryu-VIII” and “Souryu-IX”
• Basic performance of each prototype is
compared and discussed
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–163–
Souryu-VII, VIII and IX
15:45–16:00 WedET3.4
Initial Deployment of a Robotic Team
A Hierarchical Approach Under Communication
Constraints Verified on Low-Cost Platforms
Micael S. Couceiro, David Portugal and Rui P. Rocha
Institute of Systems and Robotics, University of Coimbra, Portugal
Carlos M. Figueiredo and Nuno M. F. Ferreira
Dep. of Electrical Engineering, Engineering Institute of Coimbra, Portugal
• Systematic method for hierarchically deploying swarm agents in an
unknown scenario under communication constraints
• Extension of the TraxBot platforms to support the transportation of 5
eSwarBots
• Despite odometry errors,
eSwarBots turn out to be
uniformly deployed within the
test scenario
Experimental setup with 1
TraxBot and 5 eSwarBots