Download Approaches to Probabilistic Model Learning for Mobile by Jürgen Sturm PDF

By Jürgen Sturm

ISBN-10: 3642371590

ISBN-13: 9783642371592

ISBN-10: 3642371604

ISBN-13: 9783642371608

Mobile manipulation robots are estimated to supply many helpful companies either in household environments in addition to within the business context.

Examples contain family carrier robots that enforce huge components of the house responsibilities, and flexible commercial assistants that supply automation, transportation, inspection, and tracking providers. The problem in those purposes is that the robots need to functionality lower than altering, real-world stipulations, be capable of take care of significant quantities of noise and uncertainty, and function with out the supervision of an expert.

This e-book provides novel studying thoughts that let cellular manipulation robots, i.e., cellular systems with a number of robot manipulators, to autonomously adapt to new or altering events. The ways provided during this e-book disguise the subsequent subject matters: (1) studying the robot's kinematic constitution and houses utilizing actuation and visible suggestions, (2) studying approximately articulated items within the surroundings during which the robotic is working, (3) utilizing tactile suggestions to reinforce the visible belief, and (4) studying novel manipulation projects from human demonstrations.

This publication is a perfect source for postgraduates and researchers operating in robotics, computing device imaginative and prescient, and synthetic intelligence who are looking to get an outline on one of many following subjects:

· kinematic modeling and learning,

· self-calibration and life-long adaptation,

· tactile sensing and tactile item popularity, and

· imitation studying and programming by way of demonstration.

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Extra info for Approaches to Probabilistic Model Learning for Mobile Manipulation Robots

Example text

1, we briefly introduce kinematic models for manipulation robots and explain how they can be represented using Bayesian networks. 2, we present our probabilistic framework for learning such kinematic models from visual self-observations. 3, we extend our framework to enable a robot to localize errors in the model and efficiently replace mismatching parts. 4, we present experimental results obtained with real and simulated manipulator arms. These experiments demonstrate that our approach is able to learn compact and accurate models and is capable of dealing robustly with noisy observations.

X5 , and the relative transformations Δ12 , . . , Δ45 of our example robot appear as nodes in the Bayesian network. Further, the topology of the network encodes the kinematic structure: the relative transformation Δ12 relates the first two body parts x1 and x2 , while the second relative transformation Δ23 depends additionally on the configuration q1 of the first joint. We can now use standard inference techniques for Bayesian networks to predict the pose of the end effector (given q1 , . . , qm and x1 , infer xn ) or to control the pose of the end effector (given x1 and xn , infer q1 , .

As the algebraic inversion is only possible for simple manipulators, a solution to the inverse kinematic problem is in practice often computed using an iterative numerical method such as the Jacobian transpose, pseudo-inverse or dampedleast squares method (Buss and Kim, 2005; Sciavicco and Siciliano, 2000). Bayesian Networks A fundamental insight in our work is that the kinematic model of a manipulation robot (and also those of articulated objects as we will see in Chapter 4) can be represented in form of Bayesian networks.

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