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Demos

Aerial Leashing with an AR.Drone 2.0

Jesús Pestana Puerta (CAR, CSIC-UPM, Spain), José Luis Sanchez-Lopez (CAR, CSIC-UPM, Spain), Srikanth Saripalli (Arizona State University) and Pascual Campoy (CAR, CSIC-UPM, Spain)

We present a vision based control strategy for tracking and following objects using an Unmanned Aerial Vehicle. We have developed an image based visual servoing method that uses only a forward looking camera for tracking and following objects from a multi-rotor UAV, without any dependence on GPS systems. Our proposed method tracks a user specified object continuously while maintaining a fixed distance from the object and also simultaneously keeping it in the center of the image plane. The algorithm is validated using a Parrot AR Drone 2.0 in outdoor conditions while tracking and following people, occlusions and also fast moving objects; showing the robustness of the proposed systems against perturbations and illumination changes. Our experiments show that the system is able to track a great variety of objects present in suburban areas, among others: people, windows, AC machines, cars and plants.

The Modular Snake Robot Lola-OP

Kamilo Melo (KM-RoBoTa)

Controlling the modular snake robot like Lola-OP(TM). In this demo, the user, will be allowed to use a simple front-end user interface, to generate modular snake robot gaits. The gait generation process will be explained in a very simple manner, in order that the user can program its own desired gait (under supervision). Common gaits like lateral rolling, linear progression and side-winding will be part of the palette of motions available. The robot, is a 16-DOF robot compounded by series of single rotating modules and controlled by cyclic motions.

The Modular Snake Simulator

Kamilo Melo (KM-RoBoTa)

A physics based modular snake robot simulator. In this demo, the user will be trained in order to test motion capabilities of a virtual modular snake robot in a simulated environment. The simulator is based on ODE, and allows the user to test several gaits, create a new ones and visualize important features of the motion analysis, including contact points, modules trajectories, and so on. Finally, a heightmap can be used to place the robot as the author decides and test the robot in a terrain with different characteristics.