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…….