Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedET3 <strong>Pegaso</strong> B <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 15:00–16:00<br />
Outdoor, Search and Rescue Robotics II<br />
Chair Robin Murphy, Texas A&M<br />
Co-Chair Shigeo Hirose, Tokyo Inst. of Tech.<br />
15:00–15:15 WedET3.1<br />
Design and Calibration of Large Microphone<br />
Arrays for Robotic Applications<br />
Florian Perrodin, Janosch Nikolic, Joël Busset and<br />
Roland Siegwart<br />
Autonomous System Lab, ETH Zürich, Switzerland<br />
• Presentation of a modular design<br />
for large embedded microphone<br />
arrays, example of a 64-elements<br />
microphone array.<br />
• Automatic shape calibration<br />
algorithm for 2D or 3D arrays in<br />
non-controlled (reverberant)<br />
conditions.<br />
• Application in precise acoustic<br />
imaging as well as high-gain<br />
sound amplification.<br />
• Robotics applications include<br />
search and rescue, complex<br />
acoustic scenes understanding<br />
and sound-based multi-user<br />
interface.<br />
Design of 64-elements<br />
planar microphone array<br />
15:30–15:45 WedET3.3<br />
Crank-wheel:<br />
A Brand New Mobile Base for Field Robots<br />
Hisami Nakano and Shigeo Hirose<br />
Dept. of Mechano-Aerospace Engineering,<br />
Tokyo Institute of Technoloty, Japan<br />
• We propose crank-wheel mechanism ,<br />
which is simple and has high mobility on<br />
rough terrain.<br />
• The coupler link is connected to front-rear<br />
wheel by revolute joints.<br />
• We developed the prototype<br />
• Basic performance of the prototype is<br />
discussed<br />
Crank-wheel robot<br />
15:15–15:30 WedET3.2<br />
Development of Multi-wheeled Snake-like<br />
Rescue Robots with Active Elastic Trunk<br />
Kousuke Suzuki, Atsushi Nakano, Gen Endo and Shigeo Hirose<br />
Dept. of Mechano-Aerospace Engineering,<br />
Tokyo Institute of Technoloty, Japan<br />
• We propose multi-wheeled snake-like<br />
rescue robots with active elastic trunk<br />
• The trunk driven by cables satisfies both<br />
active bending motion and passive<br />
compliance<br />
• We developed three prototypes “Souryu-<br />
VII”, “Souryu-VIII” and “Souryu-IX”<br />
• Basic performance of each prototype is<br />
compared and discussed<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–163–<br />
Souryu-VII, VIII and IX<br />
15:45–16:00 WedET3.4<br />
Initial Deployment of a Robotic Team<br />
A Hierarchical Approach Under Communication<br />
Constraints Verified on Low-Cost Platforms<br />
Micael S. Couceiro, David Portugal and Rui P. Rocha<br />
Institute of Systems and Robotics, University of Coimbra, Portugal<br />
Carlos M. Figueiredo and Nuno M. F. Ferreira<br />
Dep. of Electrical Engineering, Engineering Institute of Coimbra, Portugal<br />
• Systematic method for hierarchically deploying swarm agents in an<br />
unknown scenario under communication constraints<br />
• Extension of the TraxBot platforms to support the transportation of 5<br />
eSwarBots<br />
• Despite odometry errors,<br />
eSwarBots turn out to be<br />
uniformly deployed within the<br />
test scenario<br />
Experimental setup with 1<br />
TraxBot and 5 eSwarBots