The robots for autonomous manufacturing need to have abilities which support automatic reading of the drawings of the designed structures and the inspection of the final works done by the robots. This paper gives a re...
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As a basic study of an artificial robot psyche, this paper deals with a mathematical modeling of a robot psyche based on the discipline of Gestalt psychology, which offers a view to our human psyche that consists of t...
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Intelligent environments are the extensive environmental systems that provide information and services to user via robots, displays and speaker. Interaction is realized by networks of sensors installed in the wall and...
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Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation ...
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ISBN:
(纸本)9798350332223
Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions that a soft robot can have. In this work, we present a deep-learning methodology to learn high-dimensional visual models of a soft robot combining multimodal sensorimotor information. The models are learned in an end-to-end fashion, thereby requiring no intermediate sensor processing or grounding of data. The capabilities and advantages of such a modelling approach are shown on a soft anthropomorphic finger with embedded soft sensors. We also show that how such an approach can be extended to develop higher level cognitive functions like identification of the self and the external environment and acquiring object manipulation skills. This work is a step towards the integration of soft robotics and developmental robotics architectures to create the nextgeneration of intelligent soft robots.
This paper presents Robobo in the context of higher education. Robobo is a low-cost educational mobile robot that combines a simple wheeled base with a smartphone, which provides the latest technology to the robot. Wi...
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ISBN:
(纸本)9783319708362;9783319708355
This paper presents Robobo in the context of higher education. Robobo is a low-cost educational mobile robot that combines a simple wheeled base with a smartphone, which provides the latest technology to the robot. With Robobo, students can develop their own projects through ROS using cameras, microphones or high-resolution screens, bringing teaching closer to the real requirements of the market they will find when they finish their studies. In this work, the hardware and software development that has been carried out is described in detail. Furthermore, it is presented an exemplifying case of student project that shows the potentiality of Robobo in this context.
Modelling robots and interference detection between them are considered as two key problems when collision-free coordination of multiple robots is designed autonomously, or when the motion is tought in off-line. This ...
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The mobile industrial manipulator(MIM) which combines the advantages of both the mobile robot and industrial robot and owns powerful mobility, flexibility and functionality will be the nextgeneration of robots. Howev...
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ISBN:
(纸本)9781479906109;9781479906123
The mobile industrial manipulator(MIM) which combines the advantages of both the mobile robot and industrial robot and owns powerful mobility, flexibility and functionality will be the nextgeneration of robots. However fully autonomous MIM performing various tasks in unstructured or semi-structured environment is very challenging in autonomous localization & navigation, object identification, control and coordination. However, there is a demand in industry for MIMs to be deployed in hazardous, dangerous and/or remotely environments. Therefore, a semi-autonomous MIM is investigated to perform industrial operations. An MIM prototype using a mobile platform and an industrial robot is developed. Manual and autonomous methods are proposed and implemented to control the prototype manually and autonomously. Experiments using the prototype were performed. Experimental results demonstrate that the robot can run autonomously if there is no ambiguity and the operators can interrupt the autonomous mode at any time if needed. The developed prototype and proposed methods have big potential in industrial applications.
Electro-mechanical and other conventional type grippers are often used in the industry to pick up and handle materials. In many applications the conventional type grippers are not effective enough to handle fragile an...
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ISBN:
(纸本)9781509061327
Electro-mechanical and other conventional type grippers are often used in the industry to pick up and handle materials. In many applications the conventional type grippers are not effective enough to handle fragile and soft materials. In this research an elastomer based soft finger mechanism is introduced with hand gesture controlling as a gripping mechanism. Solid Works design of the mold was 3D printed and then using standard manufacturing procedures the Soft Fingers were developed. The Leap Motion Controller and Processing IDE were used to track three fingers and wrist of the hand to control Soft Fingers through the pneumatic control board. A Flex Sensor was used to get the feedback of the amount bent of the soft finger. Hand gestures and Soft fingers were interfaced by an Arduino controller. The testing was performed with three Soft Fingers that connected to imitate Thumb, Index and Middle fingers of hand. The final design was able to imitate the fingers but required more fine tuning to apply for a complex area.
Human oversight can benefit scenarios with complex tasks, such as pallet docking and loading and unloading containers, beyond the current capabilities of autonomous systems without any failures. Furthermore, teleopera...
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ISBN:
(纸本)9798350376371;9798350376364
Human oversight can benefit scenarios with complex tasks, such as pallet docking and loading and unloading containers, beyond the current capabilities of autonomous systems without any failures. Furthermore, teleoperation systems allow remote control of mobile ground robots, especially with the surge of 5G technology that promises reliable and low latency communication. Current works research on exploring the latest features from the 5G standard, including ultra-Reliable Low-Latency Communication (uRLLC) and network slicing. However, these features may not be available depending on the Internet Service Provider (ISP) and communication devices. Thus, this work proposes a network architecture for the teleoperation of ground mobile robots in industrial environments using commercially available devices over the 5G Non-Standalone (NSA) standard. Experimental results include an evaluation of the network and End-to-End (E2E) latency of the proposed system. The results show that the proposed architecture enables teleoperation, achieving an average E2E latency of 347.19 ms.
The master-slave system is expected to be a key technology for the nextgeneration of robots. Indeed, in many fields of operation, a master-slave system is needed to remotely perform tasks in unknown environments. How...
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