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检索条件"任意字段=Conference on Next-Generation Robots and Systems"

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Tile placement and inspection by the visually instructed robots

Tile placement and inspection by the visually instructed rob...

引用

1988 IEEE International Workshop on Intelligent robots and systems: Toward the next generation Robot and System, IROS 1988

作者： Kurosu, K. Furuya, T. Takenouchi, K. Kyushu Institute of Technology 1-1 Sensui Tobata Kitakyushu Japan

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 report about a robot who can formulate the necessary instruction for arranging tiles on a plane to accomplish the placement. The drawing of the tile placement is inputted by the visual unit, followed by the computation where the characteristic patterns are stored as the convenient forms for the robot specific procedures. Thus the robot, which works as a tile placing machine, produces its own job orders and instructs itself. After completion of the placement, the robot gets the images of the finished tile arrangement to inspect the results. The aims on this study are to develop a maintenance robot for the tile attaching and inspection works. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Inspection

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Linear Gestalt Model Of Robot Psyche And Its Expression Using Colored Face Graphs

Linear Gestalt Model Of Robot Psyche And Its Expression Usin...

引用

1988 IEEE International Workshop on Intelligent robots and systems: Toward the next generation Robot and System, IROS 1988

作者： Hara, Fumio Department of Mechanical Engineering Science University of Tokyo 1-3 Kagurazaka Shinjuku-ku Tokyo162 Japan

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 three fundamental ego-components, i.e., "Parent", "Adult" and "Child". Second we develop colored face graphs to express the robot psyche through emotions, and finally a demonstration of the robot psyche using the colored face graphs is performed for typical situations occurring between a care-take robot and human beings. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Intelligent robots

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The deadlock free path generation algorithm for multi-MoMo in R+iSpace

The deadlock free path generation algorithm for multi-MoMo i...

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2014 IEEE/ASME International conference on Advanced Intelligent Mechatronics, AIM 2014

作者： Park, Jongseung Nunogaki, Toshitake Lee, Joo-Ho Ritsumeikan University 1-1-1 Nojihigashi Kusatsu-shi Shiga-ken 525-8577 Japan

ISBN: (纸本)9781479957361

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 ceilings of buildings. The intelligent environment R+iSpace rearranges devices in physical space, achieving consistent high performance of the environmental system. In the R+iSpace system, devices are mounted on mobile modules (MoMos), which are spatially arranged to suit a required situation. The MoMo path generation algorithm, which was proposed in previous works, did not consider the deadlock situation. Here, we propose a reactive path generation algorithm, in which MoMos sequentially generate their paths based on the positions of other MoMos. The new algorithm is implemented in six layers. Each layer determines the cost of moving to adjacent nodes based on specified criteria, and the next node device node is decided by integrating the results of all layers. The performance of new algorithm is validated in computer simulations. © 2014 IEEE.

关键词： Intelligent robots

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Multi-modal Sensor Fusion for Learning Rich Models for Interacting Soft robots

Multi-modal Sensor Fusion for Learning Rich Models for Inter...

引用

IEEE International conference on Soft Robotics (RoboSoft)

作者： Thuruthel, Thomas George Iida, Fumiya Univ Cambridge Dept Engn Bioinspired Robot Lab Cambridge England UCL Dept Comp Sci Gower St London WC1E 6BT England

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 next generation of intelligent soft robots.

关键词： Deep learning

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Robobo: The next generation of Educational Robot

Robobo: The Next Generation of Educational Robot

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3rd Iberian Robotics conference (Robot)

作者： Bellas, Francisco Naya, Martin Varela, Gervasio Llamas, Luis Bautista, Moises Prieto, Abraham Duro, Richard J. Univ A Coruna Integrated Grp Engn Res La Coruna Spain Mytech La Coruna Spain

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.

关键词： Educational robots ROS Human-robot interaction

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Hierarchical sphere model (HSM) and its application for checking an interference between moving robots

Hierarchical sphere model (HSM) and its application for chec...

引用

1988 IEEE International Workshop on Intelligent robots and systems: Toward the next generation Robot and System, IROS 1988

作者： Yunhui, Liu Noborio, H. Arimoto, S. Faculty of Engineering Science Osaka University Toyonaka Osaka560 Japan Faculty of Engineering Osaka Electro-Communication University Neyagawa Osaka572 Japan

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 paper proposes a new solid model named "Hierarchical Sphere Model (HSM)11 for robot modeling and presents a feasible algorithm for checking an interference between robots modeled with HSMs. HSM has a hierarchical tree structure and its node corresponds to a spherical region. By using this hierarchy, regions where the robots' HSMs intersect each other can be fast detected and the algorithm only checks interferences between the nodes in the detected regions. Hence it works efficiently in spite of complicated robots' shape. Furthermore, since a node of HSMs represents a spherical region, interference between two nodes can be easily found just by calculating the distance between two spheres corresponding to them no matter how robots move. Finally, the efficiency of the algorithm is demonstrated by two experiments. © 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Spheres

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Semiautonomous Industrial Mobile Manipulation for Industrial Applications

Semiautonomous Industrial Mobile Manipulation for Industrial...

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3rd IEEE Annual International conference on Cyber Technology in Automation, Control and Intelligent System (CYBER)

作者： Chen, Heping Cheng, Hongtai Zhang, Biao Wang, Jianjun Fuhlbrigge, Tom Liu, Jian SW Texas State Univ Ingram Sch Engn San Marcos TX 78666 USA

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 next generation 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.

关键词： Semi-autonomous Mobile Industrial Manipulator Industrial robots Autonomous Navigation Progressive Bayesian Learning

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The Development of a Gesture Controlled Soft Robot Gripping Mechanism 8

The Development of a Gesture Controlled Soft Robot Gripping ...

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8th IEEE International conference on Information and Automation for Sustainability (ICIAfS) - Interoperable Sustainable Smart systems for next generation

作者： Gunawardane, P. D. S. H. Medagedara, Nimali T. Madusanka, B. G. D. A. Wijesinghe, Singhe Open Univ Sri Lanka Fac Engn Technol Dept Mech Engn Nugegoda Sri Lanka

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.

关键词： Soft robots Elastromers Gesture Control Leap Motion Controller

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Image and Command Transmission Over the 5G Network for Teleoperation of Mobile robots 7

Image and Command Transmission Over the 5G Network for Teleo...

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7th Iberian Robotics conference

作者： Levin, Thiago B. Oliveira, Joao Miguel Sousa, Ricardo B. Silva, Manuel F. Parreira, Bruno S. Sobreira, Heber Miguel Mendonca, Helio Sousa INESC TEC Inst Syst & Comp Engn Technol & Sci CRIIS Ctr Robot Ind & Intelligent Syst Porto Portugal Univ Porto FEUP Fac Engn Porto Portugal Polytech Porto ISEP Porto Portugal NOS SGPS Lisbon Portugal

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.

关键词： 5G mobile network remotely operated vehicles teleoperation mobile robots

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An approach to expansion of workspace motion in master-slave control system

An approach to expansion of workspace motion in master-slave...

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38th Annual conference on IEEE Industrial Electronics Society, IECON 2012

作者： Komuta, Kiyotoshi Murakami, Toshiyuki Department of System Design Engineering Keio University Yokohama Japan

ISBN: (纸本)9781467324212

The master-slave system is expected to be a key technology for the next generation of robots. Indeed, in many fields of operation, a master-slave system is needed to remotely perform tasks in unknown environments. However, in past researches, master-slave systems consisted of the ground based devices with limited workspaces. In this paper, the teleoperation system consists of a 3 DOF haptic device and a two-wheel driven mobile manipulator. In this system, the working areas of these robots are different. To realize the expansion of the working area of this system, in this paper, a master-slave control by force feedback based virtual impedance controller with scaling ratio and the algorithm extending the working area of the slave robot were proposed. In this paper, the effect of the scaling ratio in the master-slave controller is analyzed by using 'Reproducibility' and 'Operationality'. Furthermore, experimental results show the efficiency of the proposed method. © 2012 IEEE.

关键词： Slave robots

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