Academic year 2012-2013 Thesis Proposition for ... - IRCCyN
Academic year 2012-2013 Thesis Proposition for ... - IRCCyN
Academic year 2012-2013 Thesis Proposition for ... - IRCCyN
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<strong>Academic</strong> <strong>year</strong> <strong>2012</strong>-<strong>2013</strong><br />
<strong>Thesis</strong> <strong>Proposition</strong> <strong>for</strong> MASTER EMARO (or ARIA 2-ROBA) students<br />
http://emaro.irccyn.ec-nantes.fr<br />
European Master on Advanced Robotics_ ARIA 2 (speciality Advanced Robotics)<br />
<strong>Thesis</strong> Title: Pose and velocity estimation <strong>for</strong> high speed robot control<br />
Courses related to the topic from third semester program (indicate the selected courses by “X”):<br />
X Advanced modeling of Robots,<br />
Optimal design of Robots,<br />
Humanoid Robots,<br />
X Identification and Control of Robots,<br />
Bio-Robotics,<br />
X Vision based control of Robots,<br />
Acquisition and Simulation of Human motion.<br />
Motivations and general objectives:<br />
Dynamic control of high speed robots like parallel robot requires high speed estimation of the state of the<br />
robot. The control can be done in joint space, in cartesian space and more generally in sensor space.<br />
Model Based Dynamic Control approaches use proprioceptive sensors (i.e. joint sensors). Dynamic<br />
Sensor Based Control approaches use exteroceptive sensors (i.e cameras).<br />
In 2006, [Aider06] has shown that it is possible to estimate both Pose and Velocity (12D) state using a<br />
Rolling shutter camera. In 2009, [AIDER09] extends this work <strong>for</strong> a stereo rig of rolling shutter cameras.<br />
More recently this work has been applied to Random access CMOS camera. The control has been<br />
developed <strong>for</strong> three different robots (Orthoglide, T3R1 and Quattro).<br />
The work of the master will focused on the estimation of Pose and velocity using one and two camera<br />
using different assumptions <strong>for</strong> the motion model. Algorithms will be dedicated to new high speed CMOS<br />
camera. Evaluation will done using the parallel robot orthoglide. Algorithms will be developed under<br />
C++ and optimize in order to reach estimation near 1 or 2kHz.<br />
In case the work will have a very quick development and evaluation, we will try to develop new<br />
algorithms able to estimate the direction of the legs and its first derivative at the same time.<br />
Proposed work plan:<br />
Bibliography analysis<br />
Pose/Velocity estimation algorithm in C++ <strong>for</strong> random access CMOS camera<br />
Evaluation of the per<strong>for</strong>mance (comparison with ground truth)<br />
Real implementation on orthoglide<br />
Possible extension<br />
List of 5 bibliographical references:<br />
[Aider06] O. Ait Aider, N. Andreff, J.M. Lavest, P. Martinet, “ Simultaneous Object Pose and Velocity<br />
Computation Using a Single View from a Rolling Shutter Camera”, in Proceedings of the 9th European<br />
Conference on Computer Vision, ECCV06, pp. 56-68, Graz, Austria May 7-13th, 2006<br />
[Dahmouche09] R. Dahmouche, N. Andreff, Y. Mezouar, P. Martinet, “3D Pose and Velocity Visual<br />
Tracking Based on Sequential Region of Interest Acquisition”, 2009 IEEE/RSJ International Conference<br />
on Intelligent RObots and Systems, IROS09, St. Louis, MO, USA, October 11-15th, 2009
[Paccot09] Flavien Paccot, “Asservissement Visuel Dynamique de Robot Parallèle”, Phd at LASMEA,<br />
Blaise Pascal University, Clermont-Ferrand, June, 2009<br />
[Aider09] Structure and Kinematics Triangulation with a Rolling Shutter Stereo Rig<br />
O. Ait-Aider and F. Berry ICCV'09, International Conference on Computer Vision<br />
Kyoto, Japan, October 2009.<br />
[Dahmouche10a] R. Dahmouche, N. Andreff, Y. Mezouar, P. Martinet, “Efficient High-speed Visionbased<br />
Computed Torque Control of the Orthoglide Parallel Robot ”, IEEE International Conference on<br />
Robotics and Automation, ICRA10, Anchorage, Alaska, May 3-8th, 2010<br />
[Dahmouche10b] Redwan Dahmouche, “Contribution à l'estimation de mouvement 3D et à la<br />
commande par vision rapide : Application aux robots parallèles”, Phd at LASMEA, Blaise Pascal<br />
University, Clermont-Ferrand, November 18th, 2010<br />
[Ozgur10] E. Ozgur, N. Andreff, P. Martinet, “Vector-Based Dynamic Modeling and Control of Quattro<br />
Parallel Robot using Leg Orientations ”, IEEE International Conference on Robotics and Automation,<br />
ICRA10, Anchorage, Alaska, May 3-8th, 2010<br />
[Ozgur11] E. Ozgur, N. Andreff, P. Martinet, “Dynamic Control of the Quattro Robot by the Leg Edgels<br />
”, IEEE International Conference on Robotics and Automation, ICRA11, Shanghai, China, May 9-13th, 2011<br />
[Dahmouche12] R. Dahmouche, N. Andreff, Y. Mezouar, O. Ait-Aider, P. Martinet, “ Dynamic visual<br />
servoing from sequential regions of interest acquisition”, in International Journal of Robotics Research,<br />
IJRR12, Special Issue on Robot Vision, Sage Publications, Vol. 31, N°4, pp. 520-537 , April 1st, <strong>2012</strong><br />
[Ozgur12] Erol Ozgur, “ From Lines To Dynamics of Parallel Robots ”, Phd at Pascal Institute, Blaise<br />
Pascal University, Clermont-Ferrand, July 13th, <strong>2012</strong><br />
Desired experiences or qualification of the student.<br />
Robot modelling and control<br />
Computer vision Skills<br />
C++ Programming<br />
Matlab and Simulink<br />
Laboratory or Company (name, address): IRCCYN, 1 rue de la Noë, BP92101, 44321 Nantes<br />
Contact<br />
Supervisor(s): Philippe Martinet<br />
Email: Philippe.Martinet@irccyn.ec-nantes.fr<br />
Phone: 0240376975
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