Using Maps from Local Sensors for Volume-Removing Tools

Titelangaben

Stolka, Philipp J. ; Henrich, Dominik:
Using Maps from Local Sensors for Volume-Removing Tools.
In: IEEE/RSJ International Conference on Intelligent Robots and Systems. - Diego, CA, USA , 2007 . - S. 195-201
DOI: https://doi.org/10.1109/IROS.2007.4399061

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Abstract

Currently industrial robotic systems employ almost exclusively global maps for navigation purposes, if any. Additional information - intra-process, spatial, current, and persistent sensor data - is useful to cope with uncertainty, measurement errors, and incompleteness of data. We propose to augment robot world models by using local sensors (which provide data from a local epsiv-environment) and build precise maps from local sensors, with force and audio classification in orthopedics applications with a medical robot system (RONAF) as an example. Improving precision of this map-building is presented both for data localisation and data insertion.