In this paper, an approach to increase perception space of a ground standing robot via data transmission from an aerial robot is presented. Since the collected point cloud data from two robots have different coordinates, a rigid registration based approach is applied to align the coordinate of the aerial robot’s perception space to the ground robot’s one. First, the static markers which are attached to the base position of the ground robot are used to compute the transformation. However, they did not work properly when the markers are accidentally invisible due to its kinematic limits. To solve the issue, the dynamic markers which are attached to both fixed (base) and movable links of the ground robot are also studied. To account for kinematic changes of dynamic markers, forward kinematics of the ground robot’s limb is iteratively updated and applied to the rigid transformation computation. The both approaches were tested and evaluated through experiments with a full-sized armed robot and a drone in a mock-up of task field.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Increasing Perception Space of a Ground Standing Robot via Data Transmission from an Aerial Robot


    Contributors:


    Publication date :

    2019-06-01


    Size :

    4451539 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Space Robot Perception System

    Wang, Yaobing | Springer Verlag | 2020


    Docking system for aerial drone and ground robot

    KIM JI HOON / LEE KI CHAN / OH SANG HYUK | European Patent Office | 2024

    Free access

    Space-ground dual-purpose robot

    LIU XIAOCHUAN / WANG JIZHEN / REN JIA et al. | European Patent Office | 2020

    Free access

    Mobile Robot Sitting and Standing

    PERKINS ALEXANDER DOUGLAS | European Patent Office | 2019

    Free access