The six articles in this special issue were originally presented at workshops during the robotics Science and Systems 2006 (RSS'06) conference. They provide an overview of the grand challenges facing the area of r...
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The six articles in this special issue were originally presented at workshops during the robotics Science and Systems 2006 (RSS'06) conference. They provide an overview of the grand challenges facing the area of robotics.
In this paper we propose a method for identifying the Parameters of a flexible joint robot based on the motor position, current and the additional joint torque sensor information. We make some theoretical remarks on t...
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ISBN:
(纸本)0780365763
In this paper we propose a method for identifying the Parameters of a flexible joint robot based on the motor position, current and the additional joint torque sensor information. We make some theoretical remarks on the passivity property of the new controller used in the experiments. Simulation results for the movement of the complete robot are compared to measurements in order to validate the quality of the model and the performance of the controller.
Inspired by principle of human vision system, the multi-passageway parallel processing mechanism was introduced and used in the research on robot vision tracing. After the analysis of human vision system, a new object...
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Bionic robots, which aim to mimic the morphologies and functions of real living creatures, play an increasingly important role in military affairs, medical healthcare, industrial production, and so on. As a crucial pa...
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ISBN:
(纸本)9798350307542;9798350307535
Bionic robots, which aim to mimic the morphologies and functions of real living creatures, play an increasingly important role in military affairs, medical healthcare, industrial production, and so on. As a crucial part of the robots, actuators determine their overall performance to a certain extent. However, it is challenging to replicate the actuation behavior of real organisms using traditional electromechanical actuation systems (like motors) with flexible material actuation (like shape memory alloys). Potential solutions include biomuscular actuators assembled from living cells and biomaterials. As a result, this work created a biohybrid muscle actuator with primary cardiomyocytes and bioactive materials (Matrigel, fibrinogen, and so on). The muscle actuators started to produce spontaneous systolic-diastolic movements after a few days and could survive for at least five days. This study provides a reference for other researchers working on fabricating biohybrid muscle actuators.
The requirements and challenges of a haptic surface display are discussed and solutions are proposed and implemented. A prototype array of actuated pins provides resolution of 5mm, travel of 45 mm, with force and posi...
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Cooperative foraging tasks in unknown environments are fundamentally important in robotics, where the real-time path planning and proper task allocation strategies are desirable for multi-robot cooperation. In this pa...
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ISBN:
(纸本)9781479911998
Cooperative foraging tasks in unknown environments are fundamentally important in robotics, where the real-time path planning and proper task allocation strategies are desirable for multi-robot cooperation. In this paper, an improved potential field-based (IPPSO) approach is proposed for cooperative robots to accomplish the foraging tasks in unknown environments. The proposed cooperation strategy for a multi-robot system makes use of the potential field function as the fitness function of PSO. In the simulation studies, various scenarios are investigated. The effectiveness of the proposed approach is demonstrated by simulation studies.
This paper presents a novel system for accurate placement of pedicle screws. The system consists of a new light-weight (< 10 kg), kinematically redundant, and fully torque controlled robot. Additionally, the pose o...
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ISBN:
(纸本)0780395050
This paper presents a novel system for accurate placement of pedicle screws. The system consists of a new light-weight (< 10 kg), kinematically redundant, and fully torque controlled robot. Additionally, the pose of the robot tool-center point is tracked by an optical navigation system, serving as an external reference source. Therefore, it is possible to measure and to compensate deviations between the intraoperative and the preoperatively planned pose. The robotic arm itself is impedance controlled. This allows for a new intuitive man-machine-interface as the joint units are equipped with torque sensors: the robot can be moved just by pulling/pushing its structure. The surgeon has full control of the robot at every step of the intervention. The hand-eye-coordination problems known from manual pedicle screw placement can be omitted.
This paper presents the design construction and,working principle of a newly developed opto-tactile sensor for object surface assessment in robotic applications. The sensor provides information about surface texture a...
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ISBN:
(纸本)9781424400249
This paper presents the design construction and,working principle of a newly developed opto-tactile sensor for object surface assessment in robotic applications. The sensor provides information about surface texture and this can be used to assist in quality assurance and object recognition tasks. Surface texture causes flexing of protrusions on the sensor surface which in turn rotates a small mirror within the sensor. This rotation is measured optically as a variation in light intensity transmitted between two optical fibers. A mathematical relationship between these light intensity changes and geometrical parameters of the surface texture has been developed. The sensor has been fabricated and tested on a number of different surface textures and preliminary results of sensor output for differing textures are presented. It is envisaged that the sensor will be integrated into a robot system or other intelligent machine to assist with object recognition and evaluation of surface texture.
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