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A customizable, multi-host simulation and visualization framework for robot applications

引用

13th International Conference on Advanced Robotics

作者： Braun, Tim Wettach, Jens Berns, Karsten Univ Kaiserslautern Robot Res Lab Kaiserslautern Germany

ISBN: (纸本)9783540767282

A highly flexible framework for visualization and sensor simulation in three-dimensional environments is presented. By allowing the insertion of freely programmable elements for online scene modification, a programmer can customize the framework to fulfill the exact simulation or visualization needs of an application of interest. Furthermore, the framework provides simple external interfaces so that multiple clients can be attached to it with ease. The frameworks' capabilities are demonstrated with two complex robotic applications that require both a high quality simulation of cameras and lasers scanners and an intuitive 3D visualization.

关键词： Robot applications

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Multimodal navigation with a vibrotactile display in computer assisted surgery

引用

13th International Conference on Advanced Robotics

作者： Brell, Melina Hein, Andreas Carl von Ossietzky Univ Oldenburg Div Automat & Measurement Technol KISUM Dept Comp Sci D-2900 Oldenburg Germany Carl von Ossietzky Univ Oldenburg Fac 5 Int Grad Sch Neurosensory Sci & Syst Med Phys D-26111 Oldenburg Germany

ISBN: (纸本)9783540767282

A new concept of a tactile human-machine interface for surgical interventions via multimodal computer navigated surgery is presented in this paper. In contrast to conventional computer navigated surgery, information about the surgeon are explicitly processed and used to augment the human machine interaction by a vibro-tactile display. By means of this display the system is extended by non visual data presentation through tactile information transmission. Different tactile activation schemes (mono linear, duo linear) in which different numbers of tactors are activated to transmit direction information, axe tested and compared. The experimental evaluation adds up with a mean error of -0.35 mm and a standard deviation of 0.51 mm for the mono linear scheme and a mean error of -0.01 mm and a standard deviation of 0.62 mm for the duo linear scheme.

关键词： Navigation

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A guidance control strategy for semi-autonomous colonoscopy using a continuum robot

引用

13th International Conference on Advanced Robotics

作者： Chen, Gang Pham, Minh Tu Redarce, Tanneguy Unilever RandD Port Sunlight United Kingdom Laboratoire Ampère UMR CNRS 5005 INSA Lyon Villeurbanne France

ISBN: (纸本)9783540767282

Due to their compliance and high dexterity, biologically-inspired continuum robots have attracted much interest for applications such as medical surgery, urban search and rescue, de-mining etc. In this paper, we will present an application to medical surgery-colonoscopy by designing a pneumatic-driven flexible robotic manipulator, called ColoBot. The focus of this paper lies in the sensor-based guidance control of the ColoBot in a tubular, compliant and slippery environment of human colon. The kinematic model related the position and orientation of distal end of ColoBot to the actuator inputs is firstly developed and formulated for orientation control of ColoBot. For the autonomous guidance inside the colon, a method based on a circumscribed circle is utilized to calculate the real-time reference paths from the measurement of three sensors for orientation control of the Colobot. This proposed approach can be extended to the control of continuum robots in the conditions of a dynamically confined space. The experimental results on an emulation platform will be presented in order to validate the proposed control strategy.

关键词： Kinematics

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Services robots navigating on smart floors

引用

13th International Conference on Advanced Robotics

作者： Prassler, Erwin Kaempke, Thomas Kluge, Boris Strobel, Matthias InMach Intelligente Maschinen GmbH D-89081 Ulm Germany

ISBN: (纸本)9783540767282

We describe an approach to position estimation for mobile service robots and automatically guided vehicles which is based on RFID technology. The core idea of the approach is to structure the work space by means of a Smart Floor in a manner which enables and supports reliable navigation and positioning with absolute accuracy over large distances. The "intelligence" of the floor is in a dense, area-wide network of thousands of RFID transponder, which are mounted underneath the regular floor covering and quasi serve as radio beacons. The navigation system described in this paper, has been presented at CeBIT 2006 in Hannover by invitation of the German Ministry of Education and Research. InMach Intelligente Maschinen has further received the Walter Reis Innovation Award for Service Robotics for this innovative solution.

关键词： Navigation systems

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Two arms are better than one: A Behavior based control system for assistive bimanual manipulation

引用

13th International Conference on Advanced Robotics

作者： Edsinger, Aaron Kemp, Charles C. MIT Comp Sci & Artificial Intelligence Lab 77 Massachusetts Ave Cambridge MA 02139 USA Georgia Inst Technol Hlth Syst Inst Atlanta GA 30332 USA

ISBN: (纸本)9783540767282

Robots that work alongside people in their homes and workplaces could potentially extend the time an elderly person can live at home, provide physical assistance to a worker on an assembly line, or help with household chores. Human environments present special challenges for robot manipulation, since they are complex, dynamic, uncontrolled, and difficult to perceive reliably. For tasks that involve two handheld objects, the use of two arms can help overcome these challenges. With bimanual manipulation, a robot can simultaneously control two handheld objects in order to better perceive key features, control the objects with respect to one another, and interact with the user. © 2008 Springer-Verlag Berlin Heidelberg.

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Robot self-modeling of rotational symmetric 3D objects based on generic description of object categories

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13th International Conference on Advanced Robotics

作者： Park, Joon-Young Baek, Kyeong-Keun Park, Yeon-Chool Lee, Sukhan Sungkyunkwan Univ Intelligent Syst Res Ctr Sch Informat & Commun Engn Suwon South Korea

ISBN: (纸本)9783540767282

The next generation of service robots capable of such sophisticated services as errands, table/room settings, etc. should have in itself a database of a large number of object instances human use daily. However, it may be impractical, if not impossible, that human should construct such a database for robots and update it each time new objects are introduced. To reduce the level of human involvement to a minimum, we propose a method for a robot to self-model the objects that are referred to or pointed out by human. The approach starts with the generic description of object categories assumed available a-priori. The generic description represents a category of objects as a geometric as well as functional integration of parts the 3D shape of which can be depicted as generalized cones or cylinders representing geometrical primitives or Geons. Given the 3D point clouds from the scene, 3D edge detection segments out the target object referred by human by removing out the background and/or neighboring objects. At the same time, it decomposes the target object into its parts for modeling. Here, we show that a rotational symmetric part or object, a special case of generalized cylinder, can be modeled precisely with only partial 3D point cloud data available. The proposed approach based on the generic description of object categories allows the self-modeling to infer a modeling procedure, estimate a full model from partial data, and inherit functional descriptions associated with parts. Experimental results demonstrate the effectiveness of proposed approach.

关键词： Robots

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Vision-based control of the RoboTenis System

引用

13th International Conference on Advanced Robotics

作者： Angel, L. Traslosheros, A. Sebastian, J. M. Pari, L. Carelli, R. Roberti, F. Facultad de Ingeniería Electrónica Universidad Pontificia Bolivariana Bucaramanga Colombia DISAM ETSII Universidad Politécnica de Madrid Madrid Spain Instituto de Automática Universidad Nacional de San Juan Argentina

ISBN: (纸本)9783540767282

In this paper a visual servoing architecture based on a parallel robot for the tracking of faster moving objects with unknown trajectories is proposed. The control strategy is based on the prediction of the future position and velocity of the moving object. The synthesis of the predictive control law is based on the compensation of the delay introduced by the vision system. Demonstrating by experiments, the high-speed parallel robot system has good performance in the implementation of visual control strategies with high temporary requirements.

关键词： Visual servoing

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Fully-isotropic T1R3-type redundantly-actuated parallel manipulators

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13th International Conference on Advanced Robotics

作者： Gogu, Grigore Univ Blaise Pascal Mech Engn Res Lab Clermont Ferrand France

ISBN: (纸本)9783540767282

The paper presents T1R3-type fully-isotropic redundantly-actuated parallel manipulators (PMs) with four degrees of freedom. The mobile platform has one independent translation (T1) and three independent rotations (R3). A method is proposed for structural synthesis of fully-isotropic redundantly-actuated T1R3-type PMs based on the theory of linear transformations. A one-to-one correspondence exists between the actuated joint velocity space and the external velocity space of the moving platform. The Jacobian matrix mapping the two vector spaces of fully-isotropic T1R3-type PMs presented in this paper is 4x4 identity matrix throughout the entire workspace. The condition number and the determinant of the Jacobian matrix being equal to one, the manipulator performs very well with regard to force and motion transmission capabilities. Redundant actuation is used to obtain fully-isotropic solutions. As far as we are aware, this paper presents for the first time in the literature the use of redundancy to design fully-isotropic T1R3-type PMs.

关键词： Jacobian matrices

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Modelling of second order polynomial surface contacts for programming by human demonstration

引用

13th International Conference on Advanced Robotics

作者： Slaets, Peter Meeussen, Wim Bruyninckx, Herman De Schutter, Joris Katholieke Univ Leuven Dept Mech Engn B-3001 Heverlee Belgium

ISBN: (纸本)9783540767282

This paper presents a contribution to automatic model building in quadratic polynomial environments, in the context of programming by human demonstration. A human operator moves a demonstration tool equipped with a probe, in contact with an unknown environment. The motion of the demonstration tool is sensed with a 3D camera, and the interaction with the environment is sensed with a force/torque sensor. Both measurements are uncertain, and do not give direct information about the different objects in the environment (such as cylinders, spheres, planes,...) and their geometric parameters. This paper uses a Bayesian Sequential Monte Carlo method or particle filter, to recognize the different discrete objects that form the environment, and simultaneously estimate the continuous geometric parameters of these different quadratic polynomial objects. The result is a complete geometric model of an environment, with different quadratic polynomial objects at its building blocks. The approach has been verified using real world experimental data, in which it is able to recognize three different unknown quadratic polynomial objects, and estimate their geometric parameters.

关键词： model building compliant motion Bayesian estimation particle filter human demonstration task segmentation polynomial surfaces

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Safe joint mechanism based on passive compliance for collision safety

引用

13th International Conference on Advanced Robotics

作者： Park, Jung-Jun Song, Jae-Bok Kim, Hong-Seok Korea Univ Dept Mech Engn Seoul 136701 South Korea Korea Inst Ind Technol Ctr Intelligent Robot Chechon South Korea

ISBN: (纸本)9783540767282

A safe robot arm can be achieved by either a passive or active compliance system. A passive compliance system composed of purely mechanical elements often provide faster and more reliable responses for dynamic collision than an active one involving sensors and actuators. Since both positioning accuracy and collision safety are important, a robot arm should exhibit very low stiffness when subjected to a collision force greater than the one causing human injury, but maintain very high stiffness otherwise. To implement these requirements, a novel safe joint mechanism (SJM), which consists of linear springs and a slider-crank mechanism, is proposed in this research. The SJM has the advantages of variable stiffness which can be achieved only by passive mechanical elements. Various experiments of static and dynamic collisions showed the high stiffness of the SJM against an external force of less than the critical impact force, but an abrupt drop in the stiffness when the external force exceeds the critical force, thus guaranteeing collision safety. Furthermore, the critical impact force can be set to any value depending on the application.

关键词： Stiffness

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