Before the robot arm can reach a small space or pick up a delicate object, the robot needs to know exactly where its hand is. Researchers at the Robotics Institute at Carnegie Mellon University have shown that cameras connected to robotic hands can quickly create a three-dimensional environment model and find the hand in the 3D world.
It's tough to do accurate cameras and real-time arms, but the CMU team found that they can improve the accuracy of the map by using ARM itself as a sensor, using its joint angle to determine the camera's posture, which is very important for many applications. , including inspection tasks. Placing a camera or other sensor in the robot's hand as the sensor becomes smaller and more energy efficient becomes possible. This is important because robots usually have a head with a camera structure that they can't bend over to look at a workspace like a person.
But if the robot can't see its hand and doesn't know where its hand is relative to the object in the environment, then the eye on the hand is not very good. This is a common problem for mobile robots that must operate in an unknown environment. A popular solution is to simultaneously position and map the mobile robot, where the robot's components work together from sensors such as camera inputs, lidar and wheel ranging to create a three-dimensional map of the new environment, finding the robot in the three-dimensional world. These algorithms usually assume that there is very little information about the location of the sensor, perhaps if the handheld camera is so. However, if the camera is mounted on the robot arm, the geometry of the arm will limit how it moves.
Automated tracking of joint angles allows the system to produce high quality maps even if the camera moves quickly or some sensor data is lost or misleading. The researchers showed that their articulated robot SLAM (arm-slam) uses a small depth camera to connect to the lightweight robotic arm. When using it to build a 3D model of a bookshelf, they found that it produced a comparable or better reconstruction effect for other mapping techniques.
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