Page 334 - Introduction to Autonomous Mobile Robots

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Index
hexapod 27 laser rangefinder 91, 94, 104, 108, 110,
histogram 174- 177 112, 122, 147, 153, 173, 223, 225,
angle 162, 246 229, 238-239, 264, 291
color, image 177, 179, 246 least-square 154-157, 229
polar 277-278 lidar (light detection and ranging) 108
range 161 line extraction 154-155, 159, 202, 239
vector field 276 linearity 93, 120
holonomic 40, 75-77, 260, 278, 286, 290 localization 2, 8, 10, 97, 101, 181-184,
Honda Asimo 25 191-194, 198, 201, 207-214, 245-
hopping 246, 291
bow leg 22 beacon 248
Raibert 22 control 291
Ringrose 24 global 246-247
single leg 21 Kalman filter 11, 212-214, 227-229,
Hough transform 171-172, 178 233-234, 238, 244
hypothesis landmark-based 245
multiple 194-202, 212, 217, 222 Markov 11, 212-218, 223-227
single 194, 196, 199, 202 mosaic-based 247
I probabilistic 212
image buffer chip 122 representation 194
image fingerprint 178 route-based 249
image histogram 179, 246 sensor 103-104, 142, 162, 166, 177,
image histograms 177 211, 264
instantaneous center of rotation (ICR) 68 localization and mapping (SLAM) 250, 300
interlace 126 locomotion 13-17
inverse filtering 128 biological 14
inverse kinematics 45 biped 15
iris 119, 123-124 legged 17, 19, 21
J mechanism 14, 45, 211
Jacobian 85, 150, 159, 189, 236-237, 241 specific power 15
K wheeled 30-31, 42
Kalman filter 11, 198-199, 212-214, 227, M
228--252 Mahalanobis 236, 242
kernel 134-135, 165, 169 maneuverability 30, 33, 37-43, 48, 63, 67,
kinematic 17, 31, 47-48, 53-54, 58, 64, 72, 74, 77
69, 73-74, 83, 213, 224, 284, 287 manipulator 1, 47, 259
analysis 80 Markov assumption 216
constraints 48, 53, 61-62, 67-77, 280- Markov localization 212-217, 223-227,
285 233
control 81 mean square 147
forward 48, 51, 63 minimum energy algorithm 180
inverse 45 mobility 2
limitations 278 motion control 80-82, 181, 191, 298
motion 67, 259 motion field 138, 139
L motorization 80
lane curvature 281, 289 N
Laplacian 133-135, 141, 165-167 Nanokhod 42