Augmented Reality for Robot Development and Experimentation
Augmented Reality for Robot Development and Experimentation
复制标题
用于机器人开发和实验的增强现实
DOI：
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
J. Kuffner
中科院分区：
文献类型：
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作者：
Mike Stilman;P. Michel;Joel E. Chestnutt;K. Nishiwaki;S. Kagami;J. Kuffner
自主机器人系统的成功开发需要仔细融合复杂的子系统以进行感知，计划和控制。通常，这些子系统以模块化方式设计并单独测试。但是，当最终与其他组件结合以形成完整的系统时，可能会发生意外的子系统相互作用，从而使难以隔离问题来源。本文提出了一种用于机器人实验的新型范式，该范式可以对单个子系统进行统一的测试，同时充当由虚拟和真实组件组成的完整整体的一部分。我们利用光学运动捕获的速度和准确性的最新进展来定位机器人，跟踪环境对象并提取外部参数，以实时移动相机。我们构建了一个世界模型表示，它是环境中视觉传感器和触觉传感器的基础真理。从这些数据中，我们在虚拟元素（例如运动计划和现场的真实工件）之间构建了空间和时间对应关系。该系统可实现对视觉，运动计划和控制的组件算法的安全，分离测试，通常必须同时在实际硬件上测试。我们在开发自动型人形机器人的开发中显示了成功的在线应用程序的结果。
The successful development of autonomous robotic systems requires careful fusion of complex subsystems for perception, planning, and control. Often these subsystems are designed in a modular fashion and tested individually. However, when ultimately combined with other components to form a complete system, unexpected interactions between subsystems can occur that make it difficult to isolate the source of problems. This paper presents a novel paradigm for robot experimentation that enables unified testing of individual subsystems while acting as part of a complete whole made up of both virtual and real components. We exploit the recent advances in speed and accuracy of optical motion capture to localize the robot, track environment objects, and extract extrinsic parameters for moving cameras in real-time. We construct a world model representation that serves as ground truth for both visual and tactile sensors in the environment. From this data, we build spatial and temporal correspondences between virtual elements, such as motion plans, and real artifacts in the scene. The system enables safe, decoupled testing of component algorithms for vision, motion planning and control that would normally have to be tested simultaneously on actual hardware. We show results of successful online applications in the development of an autonomous humanoid robot.