Foundations of Robotics
Seminar, October 6, 2009
Time
and Place | Seminar Abstract
ICRA 2009 Practice Talks
Generating Gaits for Snake Robots by Annealed Chain Fitting and Keyframe Wave Extraction
Ross Hatton
Carnegie Mellon University - Robotics Institute
A Multi-Hypothesis Topological SLAM Approach for Loop Closing on Edge-Ordered Graphs
Steve Tully
Carnegie Mellon University - Robotics Institute
NSH 1507
Talk 4:30 pm
Generating Gaits for Snake Robots by Annealed Chain Fitting and Keyframe Wave Extraction
Snake robots have many degree of freedom. This makes them both extremely versatile and complex to control. In this paper, we address this complexity by introducing two algorithms. Annealed chain fitting efficiently maps a continuous backbone curve to a set of joint angles for a snake robot. Keyframe wave extraction takes joint angles fit to a sequence of backbone curves and identifies parameterized functions which produce those sequences. We validate the algorithms by using them to produce rolling gaits for crawling and climbing.
A Multi-Hypothesis Topological SLAM Approach for Loop Closing on Edge-Ordered Graphs
We present a method for topological SLAM that specifically targets loop closing for edge-ordered graphs. Instead of using a heuristic approach to accept or reject loop closing, we propose a probabilistically grounded multi-hypothesis technique that relies on the incremental construction of a map/state hypothesis tree. Loop closing is introduced automatically within the tree expansion, and likely hypotheses are chosen based on their posterior probability after a sequence of sensor measurements. Careful pruning of the hypothesis tree keeps the growing number of hypotheses under control and a recursive formulation reduces storage and computational costs. Experiments are used to validate the approach.
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.