In this paper we describe the use of a catadioptric panoramic system, built with a spherical mirror, for navigation tasks, namely visual path following. We define Visual Path Following as a method whereby once a robot has arrived at the start of a previously specified path, it can perform path following to a given location relying on visual tracking of features (landmarks) alone. The geometry o...

This paper presents the work addressing the issue of standing up after falling down for a novel three-legged mobile robot STriDER (Self-excited Tripedal Dynamic Experimental Robot). The robot is inherently stable when all three feet are on the ground due to its tripod stance, but it can still fall down if it trips while taking a step or if unexpected external forces act on it. The unique struct...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

Because of the natural selection and the long period evolution of various animals in the nature, the animals generates the strong adaptability to the surroundings on energy conversion, locomotion control, gesture adjustment, information processing and discerning direction. The animals’ structure and function is better than the man-made mechanical equipment’s. Therefore animals are becoming refe...

Accurate localisation of crop remains highly challenging in unstructured environments such as farms. Many of the developed systems still rely on the use of hand selected features for crop identification and often neglect the estimation of crop quantity and quality, which is key to assigning labor during farming processes. To alleviate these limitations we present a robotic vision system that ca...

In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

This paper presents an approach to intrinsic and extrinsic camera parameter calibration from a series of photographs or from video. For the reliable and accurate estimation of camera parameters it is common to use specially designed calibration patterns. However, using a single pattern, a globally consistent calibration is only possible from positions and viewing directions from where this sing...

Artificial visual attention systems aim to support technical systems in visual tasks by applying the concepts of selective attention observed in humans and other animals. Such systems are typically evaluated against ground truth obtained from human gaze-data or manually annotated test images. When applied to robotics, the systems are required to be adaptable to the target system. Here, we descr...

Purpose – To describe a robot designed and built to operate in outdoor environments hostile to the human presence, such as debris resulting from the collapse of built structures, and targeted to the tele-operated detection of potential survivors using a set of specific sensors whose information is transmitted to a remote human operator. Design/methodology/approach – RAPOSA’s mechanical structur...