Multi-Modal Robot Skins: Proximity Servoing and its Applications
|
|
- Everett Cole
- 5 years ago
- Views:
Transcription
1 Multi-Modal Robot Skins: Proximity Servoing and its Applications Workshop See and Touch: 1st Workshop on multimodal sensor-based robot control for HRI and soft manipulation at IROS 2015 Stefan Escaida Navarro and Björn Hein INSTITUTE FOR ANTHROPOMATICS AND ROBOTICS - INTELLIGENT PROCESS CONTROL AND ROBOTICS, LAB (IAR-IPR) KARLSRUHE INSTITUTE OF TECHNOLOGY IROS 2015, Hamburg KIT University of the State of Baden-Wuerttemberg and National Research Center of the Helmholtz Association
2 Outline Introduction State of the Art Proximity Servoing Preshaping and Grasping Haptic Exploration Teleoperation (Collision Prediction and Detection) Contour Following/Collision Avoidance Conclusions and Outlook 2
3 Introduction 3
4 What is Proximity Sensing? What is the role of proximity sensing in the perception taxonomy? It shares treats with haptics: Perception is local and can only be interpreted together with proprioception, i.e. with use of the kinematic chain A spatial resolution is implemented in the skin of the robot (on the robot s exterior and grippers) As example from nature, the human skin is also locally sensitive to heat radiation 4
5 Why Proximity Sensing? 2D and 3D camera systems are inadequate for the detection and modeling of events in the near proximity of the robot Perception of camera systems is encumbered by occlusions, extraneous light influence and shadows problematic for safety Tactile perception can only detect the presence of obstacles when the contact has already occurred, aka too late Every touch event has a prior proximity event Good complement All in all: important for safety because it closes a still existing perception gap 5
6 Capacitive Proximity Sensing with Spatial Resolution Advantages: Insensitivity regarding lighting and visibility conditions Insensitivity regarding optical surface properties Wide area around the module is covered (sensing is not oriented) Disadvantages: (Sensitivity to object material properties, geometry and size) Can be used to identify object? Signal to distance non-linearity Signal processing overhead due to demodulation ( Latency) 6
7 State of the Art 7
8 State of the Art (excerpt) Preshaping with adjustment of hand pose and fingers (Hsiao et al., IR, and Wistort et al., capacitive) Collision Avoidance in C-Space (Lumelsky and Cheung, IR) Hsiao et al., 2009 [3] Low latency/high speed preshaping and collision avoidance by Shimojo Labs (IR) Wistort et al [2] Not many of the approaches also consider the tactile modality or all possible DoFs Shimojo Labs, 2011 [4] 8 Shimojo Labs, 2013 [5] Cheung and Lumelsky 1992 [1]
9 Self-Developed Sensor Modules ( ) Large Area Module: 4x4cm 1 proximity cell 1 tactile cell Detection range: ~10cm Up to 16 modules on one channel Sensor array: 3x16 = 48 sensors ~25 FPS ~100ms latency The arrangement of sensors as a regular grid delivers proximity and tactile images 9
10 Proximity Servoing 10
11 Proximity Servoing Proximity Servoing: Closed-loop position or velocity control using proximity sensors Most common control goal: achieve a configuration where sensor values are equilibrated Use methods from CV to extract features from proximity images Proximity Servoing is a base for many applications: Preshaping and Grasping, Haptic Exploration, Obstacle Avoidance, etc. 11
12 Proximity Servoing Challenges Rear lights in the fog -problem ( Franz Heger) Reduced max. velocity due small distances and non-negligible reaction times (latency) No signal/ no feedback for control Target is too far away Signal is weak/noisy Signal is too close to the detection threshold Signal is ok/good Distance to target is safe Signal is very good Distance to target is not safe Detection Threshold Distance to Target Collision Some latency Safe Zone Negligible latency Safe Zone 12
13 Applications 13
14 Preshaping [8] Challenge when grasping with tactile-only sensors non-negligible contact force has to be established for perception Preshaping means to find a suitable configuration for an gripper and its fingers -before touch is established-, that favors robustness when grasping Preshaping is proximity servoing An industrial gripper equipped with 2x2 CPTS in its jaws 14
15 6D Preshaping using CTPS in Gripper Calibration of the sensors of the two jaws to equal output under same conditions High resolution/low noise is given at small distances (<1mm) 15
16 6D Preshaping using CTPS in Gripper Grouping of measured sensor values of modules for gradient detection: Implementation of closed-loop control Gradient Descent results in preshaping Comparison of lowest distance/highest proximity values of the groups Grouping for translational and rotational adjustments: 16
17 6D Preshaping using CPTS in Gripper Simultaneous adjustment in all 6 DoF Continuous adaption while closing the gripper 17
18 6D Preshaping Evaluation with different materials Wood: Front Back Alum.: Front Back Alignment always successful Higher deviation with wood and plastic compared to aluminum Good repeat accuracy Low derivation at end of phase two 18
19 Proximity + Haptic Exploration Haptic Exploration deals with acquiring object and world information through a systematic exploration strategy using touch Combined and complementary tactile- and proximity-based approach Based on proximity servoing/preshaping 19
20 Telemanipulation [9] Display proximity values acquired inside the gripper as forces on a haptic input device to assist the user in telemanipulation Additionally, assist the user with partial autonomy 20
21 Telemanipulation Cascade Controller Implementation using a cascade-controller Inner loop is a force-position controller The user opposes full resistance, i.e. maintains effector at 0 pose Full force display and no robot movement User opposes no resistance Effector pose corresponds to proximity gradient and robot moves accordingly Outer loop is velocity controller like before 21
22 Telemanipulation Video 22
23 Telemanipulation -- Results Workload and intuitiveness was assessed in a user study against a baseline of perfect vision Workload reduction is possible when operating with partial autonomy Complementary proximity information considered to be useful Small improvement in performance Details: Talk for the paper Novel approach: Manipulation of moving objects 23
24 Contact-Prediction (Depth Tracking) [8] Contact time given by tactile modality 24
25 6D Contour Following/Obstacle Avoidance An end-effector equipped with an array of proximity sensors is used to demonstrate contour following/obstacle avoidance Problem statement: Starting from pose S, follow a path to goal G parallel to an obstacle s surface first detected at pose D, as long as the obstacle is in the way to the goal. Otherwise, choose a direct path (from S to D and E to G) 25
26 Closed-Loop Control and Curvature Prediction Reactive control approach: Track obstacle tangent plane P over time to plan next increment Get misalignment from gradients in proximity image and use them as feedback for distance and orientation controllers Predictive control approach: Track curvature of obstacle ( 1, vertical rr and horizontal) over time Use curvature to take a shortcut TT that is the chord of the corresponding circle If necessary, pre-align with rotation φφ 1 rr horizontal 1 rr vertical 26
27 Preliminary Results Curvature prediction should deliver speedup when alignment constraints are tight Correction path corresponds to object shape Implementation of HRI should be straight forward 27
28 Conclusions and Outlook 28
29 Conclusions It is purposeful to treat proximity sensing similar to tactile sensing Spatial resolution Image Processing It shares treats with traditional haptics Proximity Servoing has applications in many scenarios Often tactile modality can be used complementarily (Grasping, Haptic Exploration) Many measurement principles exist with advantages and disadvantages It still is unclear whether there is a best practice solution 29
30 Outlook, future work Reduce latency ( Rear lights in the fog -problem) Grasping smaller skin patches (almost there, work in progress) Big sensor networks challenge for the future Sensor module design (work in progress) Modularity: signal processing in each module Increase spatial resolution If possible, without loosing sensing range Add features to the sensors Receive mode for better detection of insulating materials, etc. Shear-force measurements (tactile mode) 30
31 Thank your for your kind attention! Questions? 31
32 References [1] E. Cheung and V. Lumelsky, A sensitive skin system for motion control of robot arm manipulators, Robotics and Autonomous Systems, vol. 10, no. 1, pp. 9 32, [2] R. Wistort and J. R. Smith, Electric field servoing for robotic manipulation, in Intelligent Robots and Systems, IROS IEEE/RSJ International Conference on, sept. 2008, pp [3] K. Hsiao, P. Nangeroni, M. Huber, A. Saxena, A. Y Ng, Reactive Grasping Using Optical Proximity Sensors, in Intelligent Robots and Systems (IROS), 2009 IEEE/RSJ International Conference on, 2009, pp [4] K. Terada, Y. Suzuki, H. Hasegawa, S. Sone, A. Ming, M. Ishikawa, and M. Shimojo, Development of omnidirectional and fastresponsive net-structure proximity sensor, in International Conference on Intelligent Robots and Systems, [5] Keisuke Koyama, Hiroaki Hasegawa, Yosuke Suzuki, Aiguo Ming, and Makoto Shimojo, Pre-shaping for Various Objects by the Robot Hand Equipped with Resistor Network Structure Proximity Sensors, in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013, pp [6] D. Göger, M. Blankertz, and H. Wörn, A Tactile Proximity Sensor, in IEEE Sensors 2010, 2010, pp [7] S. Escaida Navarro, M. Marufo, Y. Ding, S. Puls, D. Göger, B. Hein, and H. Wörn, Methods for Safe Human-Robot- Interaction Using Capacitive Tactile Proximity Sensors, in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013, pp [8] S. Escaida Navarro, M. Schonert, B. Hein, and H. Wörn, 6D Proximity Servoing for Preshaping and Haptic Exploration using Capacitive Tactile Proximity Sensors, in Intelligent Robots and Systems (IROS), 2014 IEEE/RSJ International Conference on, 2014, pp [9] S. Escaida Navarro, F. Heger, F. Putze, T. Beyl, T. Schultz and B. Hein, Telemanipulation with Force-based Feedback of Proximity Fields, in Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on,
33 Sensor Circuit and Modules in Our Group Proximity Mode (self-capacitance) Principled sensor circuit design from D. Göger, M. Blankertz, and H. Wörn: A Tactile Proximity Sensor, in IEEE Senors 2010 Tactile Mode (mutual-capacitance) 33
2. Visually- Guided Grasping (3D)
Autonomous Robotic Manipulation (3/4) Pedro J Sanz sanzp@uji.es 2. Visually- Guided Grasping (3D) April 2010 Fundamentals of Robotics (UdG) 2 1 Other approaches for finding 3D grasps Analyzing complete
More informationMechatronics Project Report
Mechatronics Project Report Introduction Robotic fish are utilized in the Dynamic Systems Laboratory in order to study and model schooling in fish populations, with the goal of being able to manage aquatic
More informationJane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute Use an example to explain what is admittance control? You may refer to exoskeleton
More informationEasy Robot Programming for Industrial Manipulators by Manual Volume Sweeping
Easy Robot Programming for Industrial Manipulators by Manual Volume Sweeping *Yusuke MAEDA, Tatsuya USHIODA and Satoshi MAKITA (Yokohama National University) MAEDA Lab INTELLIGENT & INDUSTRIAL ROBOTICS
More informationProspective Teleautonomy For EOD Operations
Perception and task guidance Perceived world model & intent Prospective Teleautonomy For EOD Operations Prof. Seth Teller Electrical Engineering and Computer Science Department Computer Science and Artificial
More informationCSE 165: 3D User Interaction. Lecture #14: 3D UI Design
CSE 165: 3D User Interaction Lecture #14: 3D UI Design 2 Announcements Homework 3 due tomorrow 2pm Monday: midterm discussion Next Thursday: midterm exam 3D UI Design Strategies 3 4 Thus far 3DUI hardware
More informationRobotic Capture and De-Orbit of a Tumbling and Heavy Target from Low Earth Orbit
www.dlr.de Chart 1 Robotic Capture and De-Orbit of a Tumbling and Heavy Target from Low Earth Orbit Steffen Jaekel, R. Lampariello, G. Panin, M. Sagardia, B. Brunner, O. Porges, and E. Kraemer (1) M. Wieser,
More informationInformation and Program
Robotics 1 Information and Program Prof. Alessandro De Luca Robotics 1 1 Robotics 1 2017/18! First semester (12 weeks)! Monday, October 2, 2017 Monday, December 18, 2017! Courses of study (with this course
More information2. Introduction to Computer Haptics
2. Introduction to Computer Haptics Seungmoon Choi, Ph.D. Assistant Professor Dept. of Computer Science and Engineering POSTECH Outline Basics of Force-Feedback Haptic Interfaces Introduction to Computer
More informationPhysics-Based Manipulation in Human Environments
Vol. 31 No. 4, pp.353 357, 2013 353 Physics-Based Manipulation in Human Environments Mehmet R. Dogar Siddhartha S. Srinivasa The Robotics Institute, School of Computer Science, Carnegie Mellon University
More informationPush Path Improvement with Policy based Reinforcement Learning
1 Push Path Improvement with Policy based Reinforcement Learning Junhu He TAMS Department of Informatics University of Hamburg Cross-modal Interaction In Natural and Artificial Cognitive Systems (CINACS)
More informationMobile Manipulation in der Telerobotik
Mobile Manipulation in der Telerobotik Angelika Peer, Thomas Schauß, Ulrich Unterhinninghofen, Martin Buss angelika.peer@tum.de schauss@tum.de ulrich.unterhinninghofen@tum.de mb@tum.de Lehrstuhl für Steuerungs-
More informationMultisensory Based Manipulation Architecture
Marine Robot and Dexterous Manipulatin for Enabling Multipurpose Intevention Missions WP7 Multisensory Based Manipulation Architecture GIRONA 2012 Y2 Review Meeting Pedro J Sanz IRS Lab http://www.irs.uji.es/
More informationPerception. Read: AIMA Chapter 24 & Chapter HW#8 due today. Vision
11-25-2013 Perception Vision Read: AIMA Chapter 24 & Chapter 25.3 HW#8 due today visual aural haptic & tactile vestibular (balance: equilibrium, acceleration, and orientation wrt gravity) olfactory taste
More informationJEPPIAAR ENGINEERING COLLEGE
JEPPIAAR ENGINEERING COLLEGE Jeppiaar Nagar, Rajiv Gandhi Salai 600 119 DEPARTMENT OFMECHANICAL ENGINEERING QUESTION BANK VII SEMESTER ME6010 ROBOTICS Regulation 013 JEPPIAAR ENGINEERING COLLEGE Jeppiaar
More informationHaptics CS327A
Haptics CS327A - 217 hap tic adjective relating to the sense of touch or to the perception and manipulation of objects using the senses of touch and proprioception 1 2 Slave Master 3 Courtesy of Walischmiller
More informationAvailable theses in robotics (March 2018) Prof. Paolo Rocco Prof. Andrea Maria Zanchettin
Available theses in robotics (March 2018) Prof. Paolo Rocco Prof. Andrea Maria Zanchettin Ergonomic positioning of bulky objects Thesis 1 Robot acts as a 3rd hand for workpiece positioning: Muscular fatigue
More informationEvaluation of Five-finger Haptic Communication with Network Delay
Tactile Communication Haptic Communication Network Delay Evaluation of Five-finger Haptic Communication with Network Delay To realize tactile communication, we clarify some issues regarding how delay affects
More informationComputer Assisted Medical Interventions
Outline Computer Assisted Medical Interventions Force control, collaborative manipulation and telemanipulation Bernard BAYLE Joint course University of Strasbourg, University of Houston, Telecom Paris
More informationActive Perception for Grasping and Imitation Strategies on Humanoid Robots
REACTS 2011, Malaga 02. September 2011 Active Perception for Grasping and Imitation Strategies on Humanoid Robots Tamim Asfour Humanoids and Intelligence Systems Lab (Prof. Dillmann) INSTITUTE FOR ANTHROPOMATICS,
More informationHaptic Virtual Fixtures for Robot-Assisted Manipulation
Haptic Virtual Fixtures for Robot-Assisted Manipulation Jake J. Abbott, Panadda Marayong, and Allison M. Okamura Department of Mechanical Engineering, The Johns Hopkins University {jake.abbott, pmarayong,
More informationRobotics and Artificial Intelligence. Rodney Brooks Director, MIT Computer Science and Artificial Intelligence Laboratory CTO, irobot Corp
Robotics and Artificial Intelligence Rodney Brooks Director, MIT Computer Science and Artificial Intelligence Laboratory CTO, irobot Corp Report Documentation Page Form Approved OMB No. 0704-0188 Public
More informationAvailable theses in industrial robotics (October 2016) Prof. Paolo Rocco Prof. Andrea Maria Zanchettin
Available theses in industrial robotics (October 2016) Prof. Paolo Rocco Prof. Andrea Maria Zanchettin Politecnico di Milano - Dipartimento di Elettronica, Informazione e Bioingegneria Industrial robotics
More informationCognitive robots and emotional intelligence Cloud robotics Ethical, legal and social issues of robotic Construction robots Human activities in many
Preface The jubilee 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 was held in the conference centre of the Best Western Hotel M, Belgrade, Serbia, from 30 June to 2 July
More informationIntroduction To Robotics (Kinematics, Dynamics, and Design)
Introduction To Robotics (Kinematics, Dynamics, and Design) SESSION # 5: Concepts & Defenitions Ali Meghdari, Professor School of Mechanical Engineering Sharif University of Technology Tehran, IRAN 11365-9567
More informationWalking and Flying Robots for Challenging Environments
Shaping the future Walking and Flying Robots for Challenging Environments Roland Siegwart, ETH Zurich www.asl.ethz.ch www.wysszurich.ch Lisbon, Portugal, July 29, 2016 Roland Siegwart 29.07.2016 1 Content
More informationROBOTIC MANIPULATION AND HAPTIC FEEDBACK VIA HIGH SPEED MESSAGING WITH THE JOINT ARCHITECTURE FOR UNMANNED SYSTEMS (JAUS)
ROBOTIC MANIPULATION AND HAPTIC FEEDBACK VIA HIGH SPEED MESSAGING WITH THE JOINT ARCHITECTURE FOR UNMANNED SYSTEMS (JAUS) Dr. Daniel Kent, * Dr. Thomas Galluzzo*, Dr. Paul Bosscher and William Bowman INTRODUCTION
More informationCognition & Robotics. EUCog - European Network for the Advancement of Artificial Cognitive Systems, Interaction and Robotics
Cognition & Robotics Recent debates in Cognitive Robotics bring about ways to seek a definitional connection between cognition and robotics, ponder upon the questions: EUCog - European Network for the
More informationChapter 2 Introduction to Haptics 2.1 Definition of Haptics
Chapter 2 Introduction to Haptics 2.1 Definition of Haptics The word haptic originates from the Greek verb hapto to touch and therefore refers to the ability to touch and manipulate objects. The haptic
More informationLaser-Assisted Telerobotic Control for Enhancing Manipulation Capabilities of Persons with Disabilities
The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010, Taipei, Taiwan Laser-Assisted Telerobotic Control for Enhancing Manipulation Capabilities of Persons with
More informationCAPACITIES FOR TECHNOLOGY TRANSFER
CAPACITIES FOR TECHNOLOGY TRANSFER The Institut de Robòtica i Informàtica Industrial (IRI) is a Joint University Research Institute of the Spanish Council for Scientific Research (CSIC) and the Technical
More informationDistributed Vision System: A Perceptual Information Infrastructure for Robot Navigation
Distributed Vision System: A Perceptual Information Infrastructure for Robot Navigation Hiroshi Ishiguro Department of Information Science, Kyoto University Sakyo-ku, Kyoto 606-01, Japan E-mail: ishiguro@kuis.kyoto-u.ac.jp
More informationHigh-Level Programming for Industrial Robotics: using Gestures, Speech and Force Control
High-Level Programming for Industrial Robotics: using Gestures, Speech and Force Control Pedro Neto, J. Norberto Pires, Member, IEEE Abstract Today, most industrial robots are programmed using the typical
More informationTowards Intuitive Industrial Human-Robot Collaboration
Towards Intuitive Industrial Human-Robot Collaboration System Design and Future Directions Ferdinand Fuhrmann, Wolfgang Weiß, Lucas Paletta, Bernhard Reiterer, Andreas Schlotzhauer, Mathias Brandstötter
More informationRobots Leaving the Production Halls Opportunities and Challenges
Shaping the future Robots Leaving the Production Halls Opportunities and Challenges Prof. Dr. Roland Siegwart www.asl.ethz.ch www.wysszurich.ch APAC INNOVATION SUMMIT 17 Hong Kong Science Park Science,
More informationPath Planning in Dynamic Environments Using Time Warps. S. Farzan and G. N. DeSouza
Path Planning in Dynamic Environments Using Time Warps S. Farzan and G. N. DeSouza Outline Introduction Harmonic Potential Fields Rubber Band Model Time Warps Kalman Filtering Experimental Results 2 Introduction
More informationMULTI-LAYERED HYBRID ARCHITECTURE TO SOLVE COMPLEX TASKS OF AN AUTONOMOUS MOBILE ROBOT
MULTI-LAYERED HYBRID ARCHITECTURE TO SOLVE COMPLEX TASKS OF AN AUTONOMOUS MOBILE ROBOT F. TIECHE, C. FACCHINETTI and H. HUGLI Institute of Microtechnology, University of Neuchâtel, Rue de Tivoli 28, CH-2003
More informationLASER ASSISTED COMBINED TELEOPERATION AND AUTONOMOUS CONTROL
ANS EPRRSD - 13 th Robotics & remote Systems for Hazardous Environments 11 th Emergency Preparedness & Response Knoxville, TN, August 7-10, 2011, on CD-ROM, American Nuclear Society, LaGrange Park, IL
More informationIOSR Journal of Engineering (IOSRJEN) e-issn: , p-issn: , Volume 2, Issue 11 (November 2012), PP 37-43
IOSR Journal of Engineering (IOSRJEN) e-issn: 2250-3021, p-issn: 2278-8719, Volume 2, Issue 11 (November 2012), PP 37-43 Operative Precept of robotic arm expending Haptic Virtual System Arnab Das 1, Swagat
More informationNovel machine interface for scaled telesurgery
Novel machine interface for scaled telesurgery S. Clanton, D. Wang, Y. Matsuoka, D. Shelton, G. Stetten SPIE Medical Imaging, vol. 5367, pp. 697-704. San Diego, Feb. 2004. A Novel Machine Interface for
More informationHAND-SHAPED INTERFACE FOR INTUITIVE HUMAN- ROBOT COMMUNICATION THROUGH HAPTIC MEDIA
HAND-SHAPED INTERFACE FOR INTUITIVE HUMAN- ROBOT COMMUNICATION THROUGH HAPTIC MEDIA RIKU HIKIJI AND SHUJI HASHIMOTO Department of Applied Physics, School of Science and Engineering, Waseda University 3-4-1
More informationWednesday, October 29, :00-04:00pm EB: 3546D. TELEOPERATION OF MOBILE MANIPULATORS By Yunyi Jia Advisor: Prof.
Wednesday, October 29, 2014 02:00-04:00pm EB: 3546D TELEOPERATION OF MOBILE MANIPULATORS By Yunyi Jia Advisor: Prof. Ning Xi ABSTRACT Mobile manipulators provide larger working spaces and more flexibility
More informationPhysical Human Robot Interaction
MIN Faculty Department of Informatics Physical Human Robot Interaction Intelligent Robotics Seminar Ilay Köksal University of Hamburg Faculty of Mathematics, Informatics and Natural Sciences Department
More informationOn the Variability of Tactile Signals During Grasping
On the Variability of Tactile Signals During Grasping Qian Wan * and Robert D. Howe * * Harvard School of Engineering and Applied Sciences, Cambridge, USA Centre for Intelligent Systems Research, Deakin
More informationHumanoid Hands. CHENG Gang Dec Rollin Justin Robot.mp4
Humanoid Hands CHENG Gang Dec. 2009 Rollin Justin Robot.mp4 Behind the Video Motivation of humanoid hand Serve the people whatever difficult Behind the Video Challenge to humanoid hand Dynamics How to
More informationA General Tactile Approach for Grasping Unknown Objects with a Humanoid Robot
213 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) November 3-7, 213. Tokyo, Japan A General Tactile Approach for Grasping Unknown Objects with a Humanoid Robot Philipp Mittendorfer,
More informationUsing Simulation to Design Control Strategies for Robotic No-Scar Surgery
Using Simulation to Design Control Strategies for Robotic No-Scar Surgery Antonio DE DONNO 1, Florent NAGEOTTE, Philippe ZANNE, Laurent GOFFIN and Michel de MATHELIN LSIIT, University of Strasbourg/CNRS,
More informationAffordable Real-Time Vision Guidance for Robot Motion Control
Affordable Real-Time Vision Guidance for Robot Motion Control Cong Wang Assistant Professor ECE and MIE Departments New Jersey Institute of Technology Mobile: (510)529-6691 Office: (973)596-5744 Advanced
More informationLaboratory Mini-Projects Summary
ME 4290/5290 Mechanics & Control of Robotic Manipulators Dr. Bob, Fall 2017 Robotics Laboratory Mini-Projects (LMP 1 8) Laboratory Exercises: The laboratory exercises are to be done in teams of two (or
More informationFUNDAMENTALS ROBOT TECHNOLOGY. An Introduction to Industrial Robots, T eleoperators and Robot Vehicles. D J Todd. Kogan Page
FUNDAMENTALS of ROBOT TECHNOLOGY An Introduction to Industrial Robots, T eleoperators and Robot Vehicles D J Todd &\ Kogan Page First published in 1986 by Kogan Page Ltd 120 Pentonville Road, London Nl
More informationComau AURA - Advanced Use Robotic Arm AURA. Soft as a Human Touch
AURA Soft as a Human Touch 2 The Culture of Automation Designing advanced automation solutions means thinking about the industry in a new way, developing new scenarios, designing innovative products and
More informationHaptic Rendering CPSC / Sonny Chan University of Calgary
Haptic Rendering CPSC 599.86 / 601.86 Sonny Chan University of Calgary Today s Outline Announcements Human haptic perception Anatomy of a visual-haptic simulation Virtual wall and potential field rendering
More informationAURA Soft as a Human Touch
The Culture of Automation AURA Soft as a Human Touch Designing advanced automation solutions means thinking about the industry in a new way, developing new scenarios, designing innovative products and
More informationJane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute State one reason for investigating and building humanoid robot (4 pts) List two
More informationTouch Feedback in a Head-Mounted Display Virtual Reality through a Kinesthetic Haptic Device
Touch Feedback in a Head-Mounted Display Virtual Reality through a Kinesthetic Haptic Device Andrew A. Stanley Stanford University Department of Mechanical Engineering astan@stanford.edu Alice X. Wu Stanford
More informationA Reactive Collision Avoidance Approach for Mobile Robot in Dynamic Environments
A Reactive Collision Avoidance Approach for Mobile Robot in Dynamic Environments Tang S. H. and C. K. Ang Universiti Putra Malaysia (UPM), Malaysia Email: saihong@eng.upm.edu.my, ack_kit@hotmail.com D.
More informationFP7 ICT Call 6: Cognitive Systems and Robotics
FP7 ICT Call 6: Cognitive Systems and Robotics Information day Luxembourg, January 14, 2010 Libor Král, Head of Unit Unit E5 - Cognitive Systems, Interaction, Robotics DG Information Society and Media
More informationMEASURING AND ANALYZING FINE MOTOR SKILLS
MEASURING AND ANALYZING FINE MOTOR SKILLS PART 1: MOTION TRACKING AND EMG OF FINE MOVEMENTS PART 2: HIGH-FIDELITY CAPTURE OF HAND AND FINGER BIOMECHANICS Abstract This white paper discusses an example
More informationPerception. Introduction to HRI Simmons & Nourbakhsh Spring 2015
Perception Introduction to HRI Simmons & Nourbakhsh Spring 2015 Perception my goals What is the state of the art boundary? Where might we be in 5-10 years? The Perceptual Pipeline The classical approach:
More informationReal-time Adaptive Robot Motion Planning in Unknown and Unpredictable Environments
Real-time Adaptive Robot Motion Planning in Unknown and Unpredictable Environments IMI Lab, Dept. of Computer Science University of North Carolina Charlotte Outline Problem and Context Basic RAMP Framework
More informationObject Exploration Using a Three-Axis Tactile Sensing Information
Journal of Computer Science 7 (4): 499-504, 2011 ISSN 1549-3636 2011 Science Publications Object Exploration Using a Three-Axis Tactile Sensing Information 1,2 S.C. Abdullah, 1 Jiro Wada, 1 Masahiro Ohka
More informationOn Application of Virtual Fixtures as an Aid for Telemanipulation and Training
On Application of Virtual Fixtures as an Aid for Telemanipulation and Training Shahram Payandeh and Zoran Stanisic Experimental Robotics Laboratory (ERL) School of Engineering Science Simon Fraser University
More informationService Robots in an Intelligent House
Service Robots in an Intelligent House Jesus Savage Bio-Robotics Laboratory biorobotics.fi-p.unam.mx School of Engineering Autonomous National University of Mexico UNAM 2017 OUTLINE Introduction A System
More informationResearch Proposal: Autonomous Mobile Robot Platform for Indoor Applications :xwgn zrvd ziad mipt ineyiil zinepehe`e zciip ziheaex dnxethlt
Research Proposal: Autonomous Mobile Robot Platform for Indoor Applications :xwgn zrvd ziad mipt ineyiil zinepehe`e zciip ziheaex dnxethlt Igal Loevsky, advisor: Ilan Shimshoni email: igal@tx.technion.ac.il
More informationSummary of robot visual servo system
Abstract Summary of robot visual servo system Xu Liu, Lingwen Tang School of Mechanical engineering, Southwest Petroleum University, Chengdu 610000, China In this paper, the survey of robot visual servoing
More informationMEM380 Applied Autonomous Robots I Winter Feedback Control USARSim
MEM380 Applied Autonomous Robots I Winter 2011 Feedback Control USARSim Transforming Accelerations into Position Estimates In a perfect world It s not a perfect world. We have noise and bias in our acceleration
More informationShape Memory Alloy Actuator Controller Design for Tactile Displays
34th IEEE Conference on Decision and Control New Orleans, Dec. 3-5, 995 Shape Memory Alloy Actuator Controller Design for Tactile Displays Robert D. Howe, Dimitrios A. Kontarinis, and William J. Peine
More informationObstacle Displacement Prediction for Robot Motion Planning and Velocity Changes
International Journal of Information and Electronics Engineering, Vol. 3, No. 3, May 13 Obstacle Displacement Prediction for Robot Motion Planning and Velocity Changes Soheila Dadelahi, Mohammad Reza Jahed
More informationAn Experimental Comparison of Path Planning Techniques for Teams of Mobile Robots
An Experimental Comparison of Path Planning Techniques for Teams of Mobile Robots Maren Bennewitz Wolfram Burgard Department of Computer Science, University of Freiburg, 7911 Freiburg, Germany maren,burgard
More informationBehaviour-Based Control. IAR Lecture 5 Barbara Webb
Behaviour-Based Control IAR Lecture 5 Barbara Webb Traditional sense-plan-act approach suggests a vertical (serial) task decomposition Sensors Actuators perception modelling planning task execution motor
More informationHaptic Display of Contact Location
Haptic Display of Contact Location Katherine J. Kuchenbecker William R. Provancher Günter Niemeyer Mark R. Cutkosky Telerobotics Lab and Dexterous Manipulation Laboratory Stanford University, Stanford,
More informationWeld gap position detection based on eddy current methods with mismatch compensation
Weld gap position detection based on eddy current methods with mismatch compensation Authors: Edvard Svenman 1,3, Anders Rosell 1,2, Anna Runnemalm 3, Anna-Karin Christiansson 3, Per Henrikson 1 1 GKN
More informationElements of Haptic Interfaces
Elements of Haptic Interfaces Katherine J. Kuchenbecker Department of Mechanical Engineering and Applied Mechanics University of Pennsylvania kuchenbe@seas.upenn.edu Course Notes for MEAM 625, University
More informationSensing self motion. Key points: Why robots need self-sensing Sensors for proprioception in biological systems in robot systems
Sensing self motion Key points: Why robots need self-sensing Sensors for proprioception in biological systems in robot systems Position sensing Velocity and acceleration sensing Force sensing Vision based
More informationBuilding Perceptive Robots with INTEL Euclid Development kit
Building Perceptive Robots with INTEL Euclid Development kit Amit Moran Perceptual Computing Systems Innovation 2 2 3 A modern robot should Perform a task Find its way in our world and move safely Understand
More informationUNIT VI. Current approaches to programming are classified as into two major categories:
Unit VI 1 UNIT VI ROBOT PROGRAMMING A robot program may be defined as a path in space to be followed by the manipulator, combined with the peripheral actions that support the work cycle. Peripheral actions
More informationLecture 9: Teleoperation
ME 327: Design and Control of Haptic Systems Autumn 2018 Lecture 9: Teleoperation Allison M. Okamura Stanford University teleoperation history and examples the genesis of teleoperation? a Polygraph is
More informationDevelopment of A Finger Mounted Type Haptic Device Using A Plane Approximated to Tangent Plane
Development of A Finger Mounted Type Haptic Device Using A Plane Approximated to Tangent Plane Makoto Yoda Department of Information System Science Graduate School of Engineering Soka University, Soka
More informationOperating in Conguration Space Signicantly. Abstract. and control in teleoperation of robot arm manipulators. The motivation is
Operating in Conguration Space Signicantly Improves Human Performance in Teleoperation I. Ivanisevic and V. Lumelsky Robotics Lab, University of Wisconsin-Madison Madison, Wisconsin 53706, USA iigor@cs.wisc.edu
More informationBringing a sense of touch to robotic hands. Matthias Zenker
Bringing a sense of touch to robotic hands Matthias Zenker Bielefeld University / CITEC Germany 1 Fachworkshop Mechatronic Integrated Devices (MID) Nuremberg, February 13, 2014 Cognitive Interaction Technology
More informationDevelopment of a Finger Mounted Type Haptic Device Using a Plane Approximated to Tangent Plane
Journal of Communication and Computer 13 (2016) 329-337 doi:10.17265/1548-7709/2016.07.002 D DAVID PUBLISHING Development of a Finger Mounted Type Haptic Device Using a Plane Approximated to Tangent Plane
More informationIVR: Introduction to Control
IVR: Introduction to Control OVERVIEW Control systems Transformations Simple control algorithms History of control Centrifugal governor M. Boulton and J. Watt (1788) J. C. Maxwell (1868) On Governors.
More informationProprioception & force sensing
Proprioception & force sensing Roope Raisamo Tampere Unit for Computer-Human Interaction (TAUCHI) School of Information Sciences University of Tampere, Finland Based on material by Jussi Rantala, Jukka
More informationINTRODUCTION to ROBOTICS
1 INTRODUCTION to ROBOTICS Robotics is a relatively young field of modern technology that crosses traditional engineering boundaries. Understanding the complexity of robots and their applications requires
More informationSensing Ability of Anthropomorphic Fingertip with Multi-Modal Sensors
Sensing Ability of Anthropomorphic Fingertip with Multi-Modal Sensors Yasunori Tada, Koh Hosoda, and Minoru Asada Adaptive Machine Systems, HANDAI Frontier Research Center, Graduate School of Engineering,
More informationMethods for Haptic Feedback in Teleoperated Robotic Surgery
Young Group 5 1 Methods for Haptic Feedback in Teleoperated Robotic Surgery Paper Review Jessie Young Group 5: Haptic Interface for Surgical Manipulator System March 12, 2012 Paper Selection: A. M. Okamura.
More informationHuman-robotic cooperation In the light of Industry 4.0
Human-robotic cooperation In the light of Industry 4.0 Central European cooperation for Industry 4.0 workshop Dr. Erdős Ferenc Gábor Engineering and Management Intelligence Laboratoty (EMI) Institute for
More informationME 6406 MACHINE VISION. Georgia Institute of Technology
ME 6406 MACHINE VISION Georgia Institute of Technology Class Information Instructor Professor Kok-Meng Lee MARC 474 Office hours: Tues/Thurs 1:00-2:00 pm kokmeng.lee@me.gatech.edu (404)-894-7402 Class
More informationVisual Rules. Why are they necessary?
Visual Rules Why are they necessary? Because the image on the retina has just two dimensions, a retinal image allows countless interpretations of a visual object in three dimensions. Underspecified Poverty
More informationA software video stabilization system for automotive oriented applications
A software video stabilization system for automotive oriented applications A. Broggi, P. Grisleri Dipartimento di Ingegneria dellinformazione Universita degli studi di Parma 43100 Parma, Italy Email: {broggi,
More informationSimulation of a mobile robot navigation system
Edith Cowan University Research Online ECU Publications 2011 2011 Simulation of a mobile robot navigation system Ahmed Khusheef Edith Cowan University Ganesh Kothapalli Edith Cowan University Majid Tolouei
More informationE90 Project Proposal. 6 December 2006 Paul Azunre Thomas Murray David Wright
E90 Project Proposal 6 December 2006 Paul Azunre Thomas Murray David Wright Table of Contents Abstract 3 Introduction..4 Technical Discussion...4 Tracking Input..4 Haptic Feedack.6 Project Implementation....7
More informationTesting a Robotic System for Collecting and Transferring Samples on Mars -
Testing a Robotic System for Collecting and Transferring Samples on Mars - The Mars Surface Sample Transfer & Manipulation (MSSTM) Project Elie Allouis Elie.Allouis@astrium.eads.net Tony Jorden, Nildeep
More informationVALERI - A COLLABORATIVE MOBILE MANIPULATOR FOR AEROSPACE PRODUCTION. CLAWAR 2016, London, UK Fraunhofer IFF Robotersysteme
VALERI - A COLLABORATIVE MOBILE MANIPULATOR FOR AEROSPACE PRODUCTION CLAWAR 2016, London, UK Fraunhofer IFF Robotersysteme Fraunhofer IFF, Magdeburg 2016 VALERI - A collaborative mobile manipulator for
More informationBenefits of using haptic devices in textile architecture
28 September 2 October 2009, Universidad Politecnica de Valencia, Spain Alberto DOMINGO and Carlos LAZARO (eds.) Benefits of using haptic devices in textile architecture Javier SANCHEZ *, Joan SAVALL a
More informationVisual Servoing. Charlie Kemp. 4632B/8803 Mobile Manipulation Lecture 8
Visual Servoing Charlie Kemp 4632B/8803 Mobile Manipulation Lecture 8 From: http://www.hsi.gatech.edu/visitors/maps/ 4 th floor 4100Q M Building 167 First office on HSI side From: http://www.hsi.gatech.edu/visitors/maps/
More informationSensing. Autonomous systems. Properties. Classification. Key requirement of autonomous systems. An AS should be connected to the outside world.
Sensing Key requirement of autonomous systems. An AS should be connected to the outside world. Autonomous systems Convert a physical value to an electrical value. From temperature, humidity, light, to
More informationTowards Interactive Learning for Manufacturing Assistants. Andreas Stopp Sven Horstmann Steen Kristensen Frieder Lohnert
Towards Interactive Learning for Manufacturing Assistants Andreas Stopp Sven Horstmann Steen Kristensen Frieder Lohnert DaimlerChrysler Research and Technology Cognition and Robotics Group Alt-Moabit 96A,
More informationSensors and Actuators
Marcello Restelli Dipartimento di Elettronica e Informazione Politecnico di Milano email: restelli@elet.polimi.it tel: 02-2399-4015 Sensors and Actuators Robotics for Computer Engineering students A.A.
More informationTele-operation of a Robot Arm with Electro Tactile Feedback
F Tele-operation of a Robot Arm with Electro Tactile Feedback Daniel S. Pamungkas and Koren Ward * Abstract Tactile feedback from a remotely controlled robotic arm can facilitate certain tasks by enabling
More information