A Sensor Arm for Robotic Antarctic Meteorite Search
In January 2000 the Nomad robot searched an area of blue ice in Antarctica and autonomously classified 5 in-situ meteorites. The robotic capabilities of search and target identification, coupled with the scientific capabilities of analysis and classification of rocks in an extreme environment were m...
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ftcarnmellonufig:oai:figshare.com:article/6551303 2023-05-15T14:02:51+02:00 A Sensor Arm for Robotic Antarctic Meteorite Search Chris Urmson Ben Shamah James P. Teza Michael D. Wagner Dimitrios Apostolopoulos William Whittaker 2018-06-29T21:52:29Z https://doi.org/10.1184/r1/6551303.v1 https://figshare.com/articles/A_Sensor_Arm_for_Robotic_Antarctic_Meteorite_Search/6551303 unknown doi:10.1184/r1/6551303.v1 https://figshare.com/articles/A_Sensor_Arm_for_Robotic_Antarctic_Meteorite_Search/6551303 In Copyright Adaptive Agents and Intelligent Robotics meteorite search visual servoing robotic sensor placement robot arm Text Journal contribution 2018 ftcarnmellonufig https://doi.org/10.1184/r1/6551303.v1 2019-11-18T10:59:05Z In January 2000 the Nomad robot searched an area of blue ice in Antarctica and autonomously classified 5 in-situ meteorites. The robotic capabilities of search and target identification, coupled with the scientific capabilities of analysis and classification of rocks in an extreme environment were made possible by the integration of many different technologies for both hardware and software. This paper focuses on the development and integration of the sensor arm used to deploy a spectrometer from a multi-meter scale robot to centimeter scale rocks. The sensor arm combines off the shelf hardware for motion control, actuation, and sensing. Available techniques were applied in the areas of kinematics, visual servoing and image segmentation. The successful demonstration of the robotic search for Antarctic meteorites serves as a benchmark for the advancement of both custom designed and off the shelf robotic technologies. Other Non-Article Part of Journal/Newspaper Antarc* Antarctic Antarctica KiltHub Research from Carnegie Mellon University Antarctic |
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Open Polar |
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KiltHub Research from Carnegie Mellon University |
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ftcarnmellonufig |
language |
unknown |
topic |
Adaptive Agents and Intelligent Robotics meteorite search visual servoing robotic sensor placement robot arm |
spellingShingle |
Adaptive Agents and Intelligent Robotics meteorite search visual servoing robotic sensor placement robot arm Chris Urmson Ben Shamah James P. Teza Michael D. Wagner Dimitrios Apostolopoulos William Whittaker A Sensor Arm for Robotic Antarctic Meteorite Search |
topic_facet |
Adaptive Agents and Intelligent Robotics meteorite search visual servoing robotic sensor placement robot arm |
description |
In January 2000 the Nomad robot searched an area of blue ice in Antarctica and autonomously classified 5 in-situ meteorites. The robotic capabilities of search and target identification, coupled with the scientific capabilities of analysis and classification of rocks in an extreme environment were made possible by the integration of many different technologies for both hardware and software. This paper focuses on the development and integration of the sensor arm used to deploy a spectrometer from a multi-meter scale robot to centimeter scale rocks. The sensor arm combines off the shelf hardware for motion control, actuation, and sensing. Available techniques were applied in the areas of kinematics, visual servoing and image segmentation. The successful demonstration of the robotic search for Antarctic meteorites serves as a benchmark for the advancement of both custom designed and off the shelf robotic technologies. |
format |
Other Non-Article Part of Journal/Newspaper |
author |
Chris Urmson Ben Shamah James P. Teza Michael D. Wagner Dimitrios Apostolopoulos William Whittaker |
author_facet |
Chris Urmson Ben Shamah James P. Teza Michael D. Wagner Dimitrios Apostolopoulos William Whittaker |
author_sort |
Chris Urmson |
title |
A Sensor Arm for Robotic Antarctic Meteorite Search |
title_short |
A Sensor Arm for Robotic Antarctic Meteorite Search |
title_full |
A Sensor Arm for Robotic Antarctic Meteorite Search |
title_fullStr |
A Sensor Arm for Robotic Antarctic Meteorite Search |
title_full_unstemmed |
A Sensor Arm for Robotic Antarctic Meteorite Search |
title_sort |
sensor arm for robotic antarctic meteorite search |
publishDate |
2018 |
url |
https://doi.org/10.1184/r1/6551303.v1 https://figshare.com/articles/A_Sensor_Arm_for_Robotic_Antarctic_Meteorite_Search/6551303 |
geographic |
Antarctic |
geographic_facet |
Antarctic |
genre |
Antarc* Antarctic Antarctica |
genre_facet |
Antarc* Antarctic Antarctica |
op_relation |
doi:10.1184/r1/6551303.v1 https://figshare.com/articles/A_Sensor_Arm_for_Robotic_Antarctic_Meteorite_Search/6551303 |
op_rights |
In Copyright |
op_doi |
https://doi.org/10.1184/r1/6551303.v1 |
_version_ |
1766273262854078464 |