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Experimental evaluation of autonomous map-based Spot navigation in confined environments

Biomimetic Intelligence & Robotics 2022年第1期2卷 50-58页

作者： Anton Koval Samuel Karlsson george nikolakopoulos Robotics&AI Team Deparment of ComputerElectrical and Space Engineering.Luled University of TechunologyLuled SE-97187Sweden

In this article,we address the task of experimental evaluation of autonomous map-based navigation of a Boston Dynamics Spot quadruped robot in confined environments equipped with the developed autonomy package that incorporates a 3D lidar,an IMU,and an onboard *** that,we propose an integrated software and hardware system that is considered as an enabler for robot localization and risk-aware path planning,based on the known *** system design itself is modular and incorporates the perception capabilities required for autonomous *** Spot robot first is utilized to build the offline map of the environment by utilizing the Google Cartographer simultaneous localization and mapping(SLAM)*** the next step,the online environmental information from the autonomy package sensors and the offline map are provided to the onboard computer to localize the robot on the known map by utilizing means provided by ***,the occupancy information is provided to the online grid-based path planner that generates risk-aware *** extensive experimental evaluation of the proposed system is performed in corridors and SubT environments.

关键词： Spot SubT Map-based navigation 3D lidar Autonomy package

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A Survey on Pneumatic Muscle Actuators Modeling

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Journal of Energy and Power Engineering 2012年第9期6卷 1442-1452页

作者： Eleni Kelasidi george Andrikopoulos george nikolakopoulos Stamatis Manesis Department of Electrical and Computer Engineering University of Patras Rio 26500 Achaia Greece Department of Computer Electrical and Space Engineering Luleh University of Technology Lule& 97187 Sweden

The aim of this article is to provide a survey on the most popular modeling approaches for PMAs （pneumatic muscle actuators）. PMAs are highly non-linear pneumatic actuators where their elongation is proportional to the interval pressure. During the last decade, there has been an increase in the industrial and scientific utilization of PMAs, due to their advantages such as high strength and small weight, while various types of PMAs with different technical characteristics have appeared in the literature. This article will：（a） analyse the PMA＇s operation from a mathematical modeling perspective; （b） present their merits and drawbacks of the most common PMAs; and （c） establish the fundamental basis for developing industrial applications and conducting research in this field.

关键词： Survey modeling PMA (pneumatic muscle actuator) pneumatic artificial muscle fluidic muscle.

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