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

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
280 p. 2005 [3-540-28023-5]
Vol. 18: Barbagli, F.; Prattichizzo, D.; Salisbury, K. (Eds.)
Multi-point Interaction with Real and Virtual Objects
281 p. 2005 [3-540-26036-6]
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]
Vol. 14: Prassler, E.; Lawitzky, G.; Stopp, A.;
Grunwald, G.; H

agele, M.; Dillmann, R.;
Iossiˇdis. I. (Eds.)
Advances in Human-Robot Interaction
414 p. 2005 [3-540-23211-7]
Vol. 13: Chung, W.
Nonholonomic Manipulators
115 p. 2004 [3-540-22108-5]
Vol. 12: Iagnemma K.; Dubowsky, S.
Mobile Robots in Rough Terrain {
Estimation, Motion Planning, and Control
with Application to Planetary Rovers
123 p. 2004 [3-540-21968-4]
Vol. 11: Kim, J H.; Kim, D H.; Kim, Y J.; Seow, K T.
Soccer Robotics
353 p. 2004 [3-540-21859-9]
Vol. 10: Siciliano, B.; De Luca, A.; Melchiorri, C.;
Casalino, G. (Eds.)
Advances in Control of Articulated and Mobile Robots
259 p. 2004 [3-540-20783-X]
Vol. 9: Yamane, K.
Simulating and Generating Motions of Human Figures
176 p. 2004 [3-540-20317-6]
Vol. 8: Baeten, J.; De Schutter, J.

Integrated Visual Servoing and Force Control
198 p. 2004 [3-540-40475-9]
Vol. 7: Boissonnat, J D.; Burdick, J.; Goldberg, K.;
Hutchinson, S. (Eds.)
Algorithmic Foundations of Robotics V
577 p. 2004 [3-540-40476-7]
Vol. 6: Jarvis, R.A.; Zelinsky, A. (Eds.)
Robotics Research { The Tenth International Symposium
580 p. 2003 [3-540-00550-1]
Vol. 5: Siciliano, B.; Dario, P. (Eds.)
Experimental Robotics VIII
685 p. 2003 [3-540-00305-3]
Vol. 4: Bicchi, A.; Christensen, H.I.;
Prattichizzo, D. (Eds.)
Control Problems in Robotics
296 p. 2003 [3-540-00251-0]
Vol. 3: Natale, C.
Interaction Control of Robot Manipulators {
Six-degrees-of-freedom Tasks
120 p. 2003 [3-540-00159-X]
Vol. 2: Antonelli, G.
Underwater Robots { Motion and Force Control of
Vehicle-Manipulator Systems
209 p. 2003 [3-540-00054-2]
Vol. 1: Caccavale, F.; Villani, L. (Eds.)
Fault Diagnosis and Fault Tolerance for Mechatronic
Systems { Recent Advances
191 p. 2002 [3-540-44159-X]
S. Yuta  H. Asama  S. Thrun  E. Prassler  T. Tsubouchi (Eds.)
Field and Service Robotics

Recent Advances in Reserch and Applications
With 393 Figures
Professor Bruno Siciliano, Dipartimento di Informatica e Sistemistica, Universit`a degli Studi di Napoli Fede-
rico II, Via Claudio 21, 80125 Napoli, Italy, email:
Professor Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University,
Stanford, CA 94305-9010, USA, email:
Professor Frans Groen, Department of Computer Science, Universiteit vanAmsterdam, Kruislaan 403, 1098 SJ
Amsterdam, The Netherlands, email:
Editors
Prof. Shin’ichi Yuta
University of Tsukuba
Intelligent Robot Laboratory
Tennoudai 1-1-1
305-8573 Tsukuba, Japan
Prof. Hajima Asama
The University of Tokyo
Research into Artifacts
Center for Engineering (RACE)
Kashiwanoha 5-1-5, Kashiwa-shi
Chiba 277-8568, Japan
Dr. Erwin Prassler
Universit¨at Ulm
FAW Forschungsinstitut f¨ur anwendungs-
orientierte Wissensverarbeitung
Helmholtzstr. 16
89081 Ulm, Germany
Prof. Takashi Tsubouchi
University of Tsukuba
Department of Information, Interaction
Technologies

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
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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)
ROBOTICS
Research
Network
European
EURON
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Foreword

           
        
          

The goal of the new series of SpringerTracts in AdvancedRobotics (STAR) is
to b ring, in a t imely fashion, the latest advances a nd d evelopments i n robotics o n
the basis of their significance and quality. It is our hope that the wider
dissemination of research developments will stimulate more exchanges and
collaborations among the research community and contribute to further
advancementofthis rapidlygrowing field.
Since its inception in 1996, FSR, the International Conference o n Field a nd
ServiceRobotics haspublishedarchival volumes of high reference value.Withthe
launching of STAR, a more suitable home is found for this and other thematic
symposia devoted to excellence in robotics research.
The Fourth edition of Field and Service Robotics edited by Shinichi Yuta,
Hajime A sama, S ebastian Thrun, E rwin Prassler a nd T akashi T subouchi o ffers i n
its twelve-chapter volume a collection of a broad range of topics in advanced
robotics. The contents of these contributions represent a cross-section of the
current state of robotics research from one particular aspect: field and service

applications, and how they reflect on the theoretical basis of subsequent
developments. Pursuing technologies aimed at realizing skilful, smart, reliable,
robust field and service robots is thebig challenge running throughoutthisfocused
collection.
Rich b y topics a nd a uthoritative contributors, F SR c ulminates w ith t his unique
reference on the current developments and new directions in field and service
robotics. Afineaddition to theseries!
 BrunoSiciliano
December 2005 STAR Editor
Preface
In the beginning of 1980's, the robot technology had started to be popular for
the automation in many factories. Since then, the role of the r obotics has s pread
widerand wider. Now, robots are expected to take overmanyhuman tasks, andto
work in various environments. And, robots are also expected to perform in the
circumstances, where human cannot stay, such as, deep sea, space or the
extremely hazardous places. The robot that performs such tasks is called field
robot. These abilities have brought new activities to human. Beside such an
indirect assist to human, therobotsare also requested to helppeoplemoredirectly.
This concept is called "service robot. Various service tasks for daily life have
been investigated andmanyprototypes have alreadybeenimplemented.
The advanced t echnology will be the base o f people's d aily life and s ociety in
21 century, and w e believe that t he robotics will take an i mportant and d ominant
part. However, we know that huge amounts of technical advancement are still
necessary to realize the reliable and useful robots, which work in various real
environmentsorsupport ourdaily life. It is stillthe bigchallenge to realize skillful,
smart, reliable, and robust field and service robots, and we have to pursue this
technology.
The series of the International Conference on Field and Service Robotics
started 1996 in A ustralia a nd h ave b een held biannually i n different c ontinents, t o
stimulateand make progress of theresearchonthisimportantsubject.

The conferences are steered by FSR Permanent Organizing Committee (POC),
which have themembersof:
HajimeAsama, John Bares, Raja Chatila, Peter Corke, Aarne Halme, John
Hollerbach,OussamaKhatib, ChristianLaugier,John Leonard, Eduardo
Nebot, Roland Siegwart, Chuck Thorpe, Kazuya Yoshida, Shin'ichiYuta,
andAlex Zelinsky.
The fourthFSR conferencewas heldinLakeYamanaka where is on thefootof
Mt. FujiinJapan,on14-16July2003.
In this conference, 49 original papers were selected and presented in single-
track way, among 68 o riginally submitted papers, besides 4 i nvited/special talks.
These presented papers andinvited talks have demonstrated the recent advances in
research and applications of f ield a nd s ervice r obotics i n the world. M ore than 7 0
participants had actively discussed on all presentations and exchanged their
opinion on both this particular themeand thedirection of the robotics research, at:
sessions, coffeebreaks, mealtimes and on theoccasion of excursion, banquet or in
Japanese hot-spring publicbath.
Forthe scientificprogram of t hisconference, the program committee requested
to authors to provide information of their research and their opinion suchas:
Exact targeted service andfield,
Realized basis (Theoretical/Experimental/Applied),
Complexity of theworkingenvironment andachieving task,and
Estimated years until real use,
for selecting the proper papers, when they submitted their papers.
This book i s the collection o fthe papers,which arepresented at the conference
and revised after these presentation and discussions. We believe that they are
informative and useful to s ee the state o f the a rt in this i mportant and interesting
subject.
At last, we are grateful to all participants for their contribution to have made
this conference meaningful. Also, for their great help, we thank program
committee members,which include POC members and,

Erwin Prassler, Paolo Fiorini, Gisbert Lawitzky, Bruno Siciliano, Gerd
Hirzinger,Ben Kroese,CarlosBalaguer, andFriedrich Wahl,fromEurope,
Dieter Fox, Frank Dellaert, Matthew Deans, Roberto Manduchi, Howie
Choset,Alonzo Kelly, GuravSukhatme,DanielaRus,Christoph Mertzand
Vijay 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,
KiyoshiKomoriya, and Seungho Kim, from Asia.
Finally we sincerely appreciate Dr. Kuniaki K awabata, D r. S higeru S arata a nd
Dr.Hironori Adachi for theirgreat contribution to operate theconferenceand edit
the Proceedings.
May 2005 Shin'ichiYuta
Hajime Asama
SebastianThrun
ErwinPrassler
Takashi Tsubouchi

Contents
Part 1–Invited Papers
ServiceRT Systems3
Kazuhiro Kosuge
ASmall Biped Entertainment Robot Creating AttractiveApplications13
Yoshihiro Kuroki
Mobile Robots Facing the RealWorld 21
Roland Siegwart
Breakthroughs in HumanTechnology Interaction31
Bernd Reuse
Part 2 –Indoor Navigation
Indoor Navigationfor Mobile Robot by UsingEnvironment-Embedded

LocalInformationManagement Deviceand OpticalPointer41
Tsuyoshi Suzuki, Taiki Uehara, Kuniaki Kawabata, Daisuke Kurabayashi, Igor E.
Paromtchik, and Hajime Asama
Wall Following withConstrained ActiveContours 51
Elliot S. Duff and Jonathan M. Robert
Landmark-Based NonholonomicVisualHoming61
Kane Usher, Peter Corke, and Peter Ridley
RecursiveProbabilisticVelocity Obstacles for ReflectiveNavigation71
Boris Kluge and Erwin Prassler
Part 3 –Rough Terrain Navigation
Learning Predictions of the Load-Bearing Surfacefor Autonomous
Rough-Terrain NavigationinVegetation 83
Carl Wellington and Anthony Stentz
ATerrain-Aided Tracking Algorithm for MarineSystems93
Stefan Williams and Ian Mahon
ExperimentalResults in Using AerialLADAR Datafor Mobile Robot
Navigation103
Nicolas Vandapel, Raghavendra Donamukkala, and Martial Hebert
Autonomous Detection of Untraversability of the PathonRough Terrain
for the RemoteControlled Mobile Robots 113
Kazuma Hashimoto and Shin'ichi Yuta
Part 4–Localization
Mobile Robot NavigationBased on DGPS and Odometry in Campus
Environment125
Kazunori Ohno, Takashi Tsubouchi, Bunji Shigematsu, Shoichi Maeyama, and
Shin'ichiYuta
Vehicle LocalizationUsingInertialSensors and GPS135
Libor Př euč il and Roman Mázl
AnExperimentalStudy of LocalizationUsing Wireless Ethernet145
Andrew Howard, Sajid Siddiqi, and Gaurav S. Sukhatme

MALOC -MedialAxis LOCalizationinUnstructured Dynamic
Environments 155
Michael Fiegert and Charles-Marie De Graeve
Part 5–Mappingand Tracking
Market-Based Multirobot Coordination UsingTaskAbstraction167
Robert Zlot and Anthony Stentz
Decentralised SLAM withLow-BandwidthCommunicationfor Teams of
Vehicles179
Eric Nettleton, Sebastian Thrun, Hugh Durrant-Whyte, and Salah Sukkarieh
CaseStudies of aBoreholeDeployable Robot for LimestoneMine
Profiling and Mapping 189
Aaron Morris, Derek Kurth, Daniel Huber, William Whittaker, and Scott Thayer
BayesianProgramming for Multi-target Tracking:AnAutomotive
Application 199
Christophe Coué, Cédric Pradalier, and Christian Laugier
OptimalSearchofaLost Target in aBayesianWorld 209
Frédéric Bourgault, Tomonari Furukawa, and Hugh F. Durrant-Whyte
 
Part 6 –Rough Terrain Locomotion
Terramechanics-Based Analysis and Traction Control of a
Lunar/Planetary Rover225
Kazuya Yoshida, Toshinobu Watanabe, Noriyuki Mizuno, and Genya Ishigami
TopologicalAnalysis of RoboticN-Wheeled Ground Vehicles235
Michel Lauria, Steven Shooter, and Roland Siegwart
Development of aControl System of anOmni-directionalVehicle witha
Step-Climbing Ability 245
Daisuke Chugo, Kuniaki Kawabata, Hayato Kaetsu, Hajime Asama, and Taketoshi
Mishima
Sensor-Based WalkingonRough Terrain for LeggedRobots 255
Yasushi Mae, Tatsuhi Mure, Kenji Inoue, Tatsuo Arai, and Noriho Koyachi

Part 7 –Helicopters and Air Vehicles
Experiments in Learning Helicopter Control from aPilot267
Gregg Buskey, Jonathan Roberts, and Gordon Wyeth
Landing on aMovingTarget UsinganAutonomous Helicopter277
Srikanth Saripalli and Gaurav S. Sukhatme
ScanAlignment and 3-DSurfaceModeling withaHelicopter Platform287
Sebastian Thrun, Mark Diel, and Dirk Hähnel
Real-timeNavigation,Guidance,and Control of aUAV UsingLow-Cost
Sensors 299
Jong-Hyuk Kim, Salah Sukkarieh, and Stuart Wishart
ACompact Millimeter WaveRadar Sensor for Unmanned Air Vehicles311
Ali Haydar Göktoğ an, Graham Brooker, and Salah Sukkarieh
Part 8–Mobility and Manipulation
Motion Analysis of aParallel Mobile Robot323
Shraga Shoval and Moshe Shoham
Teleoperation System for TwoTracked Mobile Robots Transportinga
Single Object in CoordinationBased on FunctionAllocationConcept333
Hiroki Takeda, Zhi-Dong Wang, and Kazuhiro Kosuge
 
Development of aTerrain AdaptiveStability Prediction for Mass
ArticulatingMobile Robots 343
Antonio Diaz-Calderon and Alonzo Kelly
ROBHAZ-DT2:PassiveDouble-TrackedMobile Manipulator for
ExplosiveOrdnanceDisposal355
Sungchul Kang, Changhyun Cho, Changwoo Park, Jonghwa Lee, Dongseok Ryu,
and Munsang Kim
Part 9–Human-Robot Interaction
Towards Safer Roads by Integrationof
RoadScene Monitoring andVehicle Control 367
Lars Petersson and Alexander Zelinsky

Performing Skilled Work withanInteractively Operated ServiceRobot 377
Aarne Halme, Jouni Sievilä, Ilkka Kauppi, and Sami Ylönen
AMulti-purposeEight-Legged Robot Developed for
anEvaluationofaNeuralInterface385
Takashi K. Saito, Itsuro Saito, Nobuyuki Nemoto, Koki Takiura, Toshinaga Ozeki,
Naoto Kakuta, Takahiro Tohyama, Takashi Isoyama, and Tsuneo Chinzei
Online InteractiveBuilding of Presence395
Jussi Suomela, Jari Saarinen, Aarne Halme, and Panu Harmo
Part 10 –HealthCareand ServiceTasks
Light Weight Autonomous ClimbingRobot for Elderly and Disabled
Persons' Services407
Carlos Balaguer, Aantonio Giménez, Alberto Jardón, Raúl Correal, Ramiro Cabas,
and Pavel Staroverov
Planning under Uncertainty for Reliable HealthCareRobotics417
Nicholas Roy, Geoffrey Gordon, and Sebastian Thrun
Development of aPersonalServiceRobot withUser-Friendly Interfaces 427
Jun Miura, Yoshiaki Shirai, Nobutaka Shimada, Yasushi Makihara,
Masao Takizawa, and Yoshio Yano
AnEnhanced RoboticLibrary System for anOff-SiteShelving Facility 437
Jackrit Suthakorn, Sangyoon Lee, Yu Zhou, Sayeed Choudhury, and Gregory S.
Chirikjian
 
International Contest for Cleaning Robots: Fun Event or a First Step
Towards Benchmarking Service Robots 447
Erwin Prassler, Martin Hägele, and Roland Siegwart
Part 11 – Mining
Dragline Automation: Experimental Evaluation Through Productivity
Trial459
Peter Corke, Graeme Winstanley, Matthew Dunbabin, and Jonathan Roberts
Shearer Guidance: A Major Advance in Longwall Mining 469

David C. Reid, David W. Hainsworth, Jonathon C. Ralston, and Ronald. J.
McPhee
Development of an Autonomous Conveyor-Bolting Machine for the
Underground Coal Mining Industry 477
Jonathon C. Ralston, Chad O. Hargrave, and David W. Hainsworth
A Case Study in Robotic Mapping of Abandoned Mines487
Christopher Baker, Zachary Omohundro, Scott Thayer, William Whittaker, Mike
Montemerlo, and Sebastien Thrun
Automatic 3D Underground Mine Mapping497
Daniel F. Huber and Nicolas Vandapel
Part 12 – Rescue and Agricultural Applications
Development of Pneumatically Controlled Expandable Arm for Search in
the Environment with Tight Access 509
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
Distributed Search and Rescue with Robot and Sensor Teams529
George Kantor, Sanjiv Singh, Ronald Peterson, Daniela Rus, Aveek Das, Vijay
Kumar, Guilherme Pereira, and John Spletzer
Spraying Robot for Grape Production 539
Yuichi Ogawa, Naoshi Kondo, Mitsuji Monta, and Sakae Shibusawa
 
 
Path Planning for Complete Coverage with Agricultural Machines549
Michel Taïèx, Philippe Souères, Helene Frayssinet, and Lionel Cordesses
Author Index559
Service RT Systems
 
    

 
  


Abstract.             
            
              
               
             
 
1Introduction
            
         
           
          
          
         

          
             
           
               
            
               
       
           
             
          
             
         

            
   



2New Research Model and Field and Service Robotics
          
            
           
          
             
           
             
            
  
     
    
        
  
     
       
        

     
    
          

              
          
            

             
          
Fig.1.       
   
         
             
    
            
        
              
   
3Robotics and RT Systems
           
              
             
            
         
            
            
             
             
        
•     
           
            
            
          
             
         
    

•   
          
           
           

•   
          
            
         
         
               

•  
          
        
          



• 


4 From Robotics to RT Systems





      


    









Fig.2.   
 


    





Fig.3.   
Fig.4.   

           
             
            
            
            
        
             

          
            
              
            
             
             
              
              
              
         
              
            
           
              
            
   
            
               
             
             
              
         
           
         
               
           
            
            
              
5FromRTSystems to Robotics

           
             
          
           
         
   
Fig.5.     
         
            
          
              
           
             
          
          
         
             
          
           
          
            
         
           
           
      
          
         
            
               
          

  
              
        
             
           
       
Fig.6.       
6Conclusions
            
             
 
     
     
     
             
           
            

             
           
   
Fig.7.          
               
           
           
             
 
References
            
       

            
          
            
    
           
      
           
    
           
  IEEE Transactions on System, Man and Cybernetics  
 
           
  Proceesings of 1992 IEEE/RSJ International Conference on Intelligent
Robots and Systems  
          
   Proceesings of The IECON’94, 20th International Conference
on Industrial Electronics Control and Instrumentation  