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Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objectsInteraction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.
Document ID
19900019706
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Davis, Larry S. (Maryland Univ. College Park, MD, United States)
Dementhon, Daniel (Maryland Univ. College Park, MD, United States)
Bestul, Thor (Maryland Univ. College Park, MD, United States)
Ziavras, Sotirios (Maryland Univ. College Park, MD, United States)
Srinivasan, H. V. (Maryland Univ. College Park, MD, United States)
Siddalingaiah, Madhu (Maryland Univ. College Park, MD, United States)
Harwood, David (Maryland Univ. College Park, MD, United States)
Date Acquired
September 6, 2013
Publication Date
January 31, 1989
Publication Information
Publication: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 1
Subject Category
Man/System Technology And Life Support
Accession Number
90N29022
Funding Number(s)
CONTRACT_GRANT: DACA-76-88-C-0008
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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