Research Overview A/Prof Lindsay Kleeman Intelligent Robotics Research Centre Monash University.
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Transcript of Research Overview A/Prof Lindsay Kleeman Intelligent Robotics Research Centre Monash University.
Research Overview
A/Prof Lindsay Kleeman
Intelligent Robotics Research Centre
Monash University
General Background
Robotics interests are centred around:
•estimation
•real time actuation and scheduling
•sensor systems, eg ultrasonic, stereo vision, 3D shape measurement
•modelling of physical systems
DSP Ultrasonic Sensor Module
•Real time measurement of range and distance to targets
•Classification into planes, corners, edges and curvature of ultrasonic targets.
•Interference rejection won Best paper award IROS’99.
DSP Sonar Ring•Full 360 degree coverage
•48 receivers
•24 transmitters simultaneous firing
•Awesome dBs if you are a bat!
Underwater Sonar
3 DSP custom boards
for signal processing
Tank testing first…later the VC’s swimming pool, then the world!
Mobile Robot Simultaneous Localisation and Mapping SLAM
SLAMbot maps the environment with the front and back sonar trackers
Maps need to maintain the correlation between map feature errors and robot pose errors -> covariance matrix.
Research is attempting a real time solution.
Humanoid RoboticsMetalman developed in conjunction with Geoff Taylor (PhD student) and IRRC.
Visual servoing and human robot interaction.
Video demo…….