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This paper proposes a method for collision avoidance of a mobile manipulator. The method deals with the problem of driving a mobile manipulator from a starting configuration to a goal configuration avoiding obstacles. It modifies planned trajectory at every sampling time using elastic force and potential field force. It puts way poses throughout a planned(More)
This paper proposes a method for mobile robot localization in a partially unknown indoor environment. The method fuses two types of range measurements: the range from the robot to the beacons measured by ultrasonic sensors and the range from the robot to the walls surrounding the robot measured by a laser range finder (LRF). For the fusion, the unscented(More)
In this paper, we describe the design of the hardware and software for haptic rendering system. A haptic interface allows a human to explore and to interact with virtual environments using the sense of touch. Haptic rendering systems include three main components: detecting collision, computing the penetration depth, and restoring force and torques. We(More)
This paper proposes a method for localization of an underwater robot. The method uses Monte Carlo algorithm called the particle filter. It predicts the pose of the robot using the internal sensor information from thrusters, inertial sensors, and electronic compass. A correction procedure follows the prediction. The correction uses external sensor(More)
This paper describes a real-time EtherCAT Master library. The library is developed using Xenomai. Xenomai is a real-time development framework. It cooperates with the Linux kernel, in order to provide a pervasive, interface-agnostic, hard real-time support to user-space applications, seamlessly integrated into the GNU/Linux environment. The proposed master(More)
This paper compares filtering methods used for localization of an underwater robot: Kalman filter and particle filter. Kalman filter and particle filter are major filters for estimation of robot pose on the ground. They are adapted for underwater robot localization. While Kalman filter can be used for linear or linearized processes and measurement system,(More)
This paper describes a method for estimating the attitude of an underwater robot. The method employs a new concept of sine rotation vector and uses both an attitude heading and reference system (AHRS) and a Doppler velocity log (DVL) for the purpose of measurement. First, the acceleration and magnetic-field measurements are transformed into sine rotation(More)