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

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A Tip Mount for Transporting Sensors and Tools using Soft Growing robots

A Tip Mount for Transporting Sensors and Tools using Soft Gr...

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IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Jeong, Sang-Goo Coad, Margaret M. Blumenschein, Laura H. Luo, Ming Mehmood, Usman Kim, Ji Hun Okamura, Allison M. Ryu, Jee-Hwan Stanford Univ Dept Mech Engn Stanford CA 94305 USA Korea Univ Technol & Educ Sch Mech Engn Cheonan Si South Korea Korea Adv Inst Sci & Technol Dept Civil & Environm Engn Daejeon South Korea

ISBN: (纸本)9781728162126

Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly enhance the usefulness of these robots for exploration in the field. However, because the material at the tip of the robot body continually changes as the robot grows and retracts, it is challenging to keep sensors and tools attached to the robot tip during actuation and environment interaction. In this paper, we analyze previous designs for mounting to the tip of soft growing robots, and we present a novel device that successfully remains attached to the robot tip while providing a mounting point for sensors and tools. Our tip mount incorporates and builds on our previous work on a device to retract the robot without undesired buckling of its body. Using our tip mount, we demonstrate two new soft growing robot capabilities: (1) pulling on the environment while retracting, and (2) retrieving and delivering objects. Finally, we discuss the limitations of our design and opportunities for improvement in future soft growing robot tip mounts.

关键词： Machine design

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Robotic Active Tactile Sensing Inspired by Serotonergic Modulation Using Active Inference 12th

Robotic Active Tactile Sensing Inspired by Serotonergic Mod...

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Proceedings of the 12th International conference on Biomimetic and Biohybrid systems, Living Machines 2023

作者： Novicky, Filip Offergeld, Joshua Janssen, Simon Lanillos, Pablo Donders Institute for Brain Cognition and Behavior Department of Neurophysics Radboud University Nijmegen Netherlands Donders Institute for Brain Cognition and Behavior Department of Artificial Intelligence Radboud University Nijmegen Netherlands Madrid Spain

ISBN: (纸本)9783031388569

When faced with uncertainty in the world, biological agents actively sense the environment to acquire the most informative input to fulfil their tasks. Actions are performed to adjust bodily sensors to maximize the collected information, which is usually known as active sensing. For instance, rodents continuously adjust the speed and amplitude of whisking to better identify objects and body location in space, which ultimately regulates navigation. Whilst, the internal mechanism that drives active sensing in humans is still under research, recent evidence points towards neuromodulators, such as serotonin, that influence whether the habitual behaviour is preferred over sensor adjustments to trigger exploration. Here, we present an active tactile-sensing model for a robot inspired by the serotonergic function viewed from the uncertainty minimization perspective. To mechanistically explain this neuromodulatory function, we associated it with precision parameters regulating habitual behaviour and tactile encoding based on previous findings. We qualitatively evaluated the model using an experiment inspired by the gap-crossing paradigm but tailored to a humanoid with tactile sensing. Behavioural switch timing results show the strong dependencies between active sensing and precision regulation. Ultimately, this work discusses how the neural microcircuitry regulates active sensing, hence opening future research of such neuromodulatory processes translated to robotics active sensing and perception. © 2023, The Author(s).

关键词： robots

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Hybrid Multi-Robot System for Drilling and Blasting Automation 16

Hybrid Multi-Robot System for Drilling and Blasting Automati...

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16th IEEE International conference on Control, Automation, Robotics and Vision (ICARCV)

作者： Dac Dang Khoa Nguyen Lai, Yujun Sutjipto, Sheila Paul, Gavin Univ Technol Sydney UTS Fac Engn & Informat Technol Ctr Autonomous Syst CAS Sydney NSW Australia

ISBN: (纸本)9781728177090

Multi-robot systems possess the potential of becoming the next generation of robots in the mining industry due to their robustness and scalability. However, they present challenges for the system to efficiently allocate tasks to each robot and allow them to navigate toward their targets safely. This paper introduces a hybrid approach method for a multi-robot system, alongside with a case study in drilling and blasting automation. A Centralized Control Unit delegates tasks and information among the robots in the system, each equipped with a decentralized motion planner that supports cooperative inter-robot collision avoidance. The proposed system inherits the advantage of a centralized multi-robot system in providing a time-wise optimal solution;while also possessing the computational benefit and scalability of a decentralized system. Simulations were conducted to validate the proposed method and discuss insights into the efficacy and performance of the proposed method.

关键词： Multipurpose robots

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SAM IoT 2020 - Proceedings of the 1st Eclipse Research International conference on Security, Artificial Intelligence and Modeling for the next generation Internet of Things

SAM IoT 2020 - Proceedings of the 1st Eclipse Research Inter...

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1st Eclipse Research International conference on Security, Artificial Intelligence and Modeling for the next generation Internet of Things, SAM IoT 2020

The proceedings contain 11 papers. The topics discussed include: risk assessment in IoT case study: collaborative robots system;integrated solution for industrial IoT data security - the CHARIOT solution;guidelines for privacy and security in IoT;semantic models for network intrusion detection;smart building energy and comfort management based on sensor activity recognition and prediction;prescriptive system for reconfigurable manufacturing systems considering variable demand and production rates;a cross-platform communication mechanism for ROS-based cyber-physical system;REPLICA: a solution for next generation IoT and digital twin based fault diagnosis and predictive maintenance;DINASORE: a dynamic intelligent reconfiguration tool for cyber-physical production systems;bringing clouds down to earth: modeling arrowhead deployments via eclipse Vorto;and model based methodology and framework for design and management of next-gen IoT systems.

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Jumping Motion generation for Humanoid Robot Using Arm Swing Effectively and Changing in Foot Contact Status

Jumping Motion Generation for Humanoid Robot Using Arm Swing...

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IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Mineshita, H. Otani, T. Sakaguchi, M. Kawakami, Y. Lim, H. O. Takanishi, A. Waseda Univ Grad Sch Modern Mech Engn Shinjuku Ku 41-30417 Kikui Cho Tokyo 1620044 Japan Waseda Univ Res Inst Sci & Engn Tokyo Japan Waseda Univ Humanoid Robot Inst HRI Tokyo Japan ASICS Corp Inst Sport Sci Kobe Hyogo Japan Waseda Univ Fac Sport Sci Tokyo Japan Kanagawa Univ Fac Engn Yokohama Kanagawa Japan Waseda Univ Dept Modern Mech Engn Tokyo Japan

ISBN: (纸本)9781728162126

Human jumping involves not only lower limbs but also whole-body coordination. During jumping, the effect of sinking the center of mass for recoil and arm swing are significant, and they can cause changes in the jump height. However, upper body movements during jumping movements of humanoid robots have not been studied adequately. When jumping involves only the lower limbs, the burden on the lower limbs increases and it is difficult to jump as high as humans do. Also, if the sole is in contact with the ground during jumping movements, we cannot make good use of the ankle joint. Humans raise their heels during jumping movements, but there are few cases where humanoid robots achieve these movements. Therefore, we thought that jumping with recoil motion by the sinking, arm swing, and changing in foot contact status could result in a higher jump height higher than that possible with only lower limb movements. Hence, in this study, we generated jumping motion using sinking, arm swing and changing foot posture. First, a center of mass trajectory was generated by planning the entire jumping motion, and at the same time, the angular momentum was determined for stability. next, the joint trajectory was calculated using these two parameters. At that time, arm trajectory and foot posture were specified in the null space. This generated a jumping motion considering arm swing. During simulations, this method provided a jump height almost four times the jump height that obtained without arm swing.

关键词： Anthropomorphic robots

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Teleoperation of an Industrial Robot using Public Networks and 5G SA Campus Networks

Teleoperation of an Industrial Robot using Public Networks a...

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IEEE International conference on Robotic Computing (IRC)

作者： Jannik Rohde Olga Meyer Quy Luu Duc Christoph Jürgenhake Talib Sankal Roman Dumitrescu Robert H. Schmitt Competence Center DigITools for Production Fraunhofer Institute for Manufacturing Engineering and Automation IPA Stuttgart Germany Systems Engineering Fraunhofer Institute for Mechatronic Systems Design IEM Paderborn Germany Digital Infrastructures Fraunhofer Institute for Production Technology IPT Aachen Germany Heinz Nixdorf Institute University of Paderborn Paderborn Germany Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen University Aachen Germany

ISBN: (纸本)9781665472616

The next generation of cellular mobile communication standard 5G is considered to have more stable and secure communication links, low latency and higher flexibility which can be enablers for various new scenarios and applications. Teleoperation is the field that can benefit greatly from 5G technology. Demanding and mission-critical use cases such as telesurgery have challenging requirements like low latency and high reliability of the communication channel, which can be possibly met by 5G in the future. This work presents a 5G architecture for the teleoperation of an industrial robot over long distance. For this purpose three Fraunhofer Institutes were connected over public internet and 5G campus networks. Furthermore, this work describes the latency performance of the investigated teleoperation use case. The measurements in the experiment are performed with two 5G standalone (SA) networks and an edge cloud.

关键词： Cloud computing 5G mobile communication Service robots Mission critical systems Computer architecture Communication channels Reliability

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Design of a Modular Robotic Workcell Platform Enabled by Plug & Produce Connectors

Design of a Modular Robotic Workcell Platform Enabled by Plu...

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International conference on Advanced Robotics (ICAR)

作者： Primož Radanovič Jaka Jereb Igor Kovač Aleš Ude Jožef Stefan Institute Ljubljana Slovenia

ISBN: (纸本)9781665436854

To respond to the increasing global demand for highly customisable production systems, we developed a new standardised component for modular robotic platforms. It supports a modular framework for building robotic workcells of the next generation. The main building blocks for the framework are the archetypical module, on which the equipment that provides the functionality of the module is mounted, and the newly developed “Plug & Produce” connector. The latter is the key enabling technology of the system as it allows us to mechanically couple and decouple different modules while also providing all the necessary signals and energy sources to the module. To demonstrate the potential of the proposed framework, we have built a fully functional robotic workcell and applied it in the context of automated recycling of electronic devices. To prove the feasibility of such a system for real-world settings, we evaluated the repeatability of the module coupling and deflections of the modules as a result of floor unevenness.

关键词： Couplings Service robots Software architecture Software Recycling Floors next generation networking

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Robotics Education To and Through College 10th

Robotics Education To and Through College

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10th International conference on Robotics in Education (RiE)

作者： Page, Brian R. Ziaeefard, Saeedeh Knop, Lauren Rastgaar, Mo Mahmoudian, Nina Purdue Univ W Lafayette IN 47907 USA Ohio State Univ Columbus OH 43210 USA Michigan Technol Univ Houghton MI 49931 USA

ISBN: (纸本)9783030269456;9783030269449

Robotics education has made great strides to enable the next generation of engineers and workers with early education and outreach. This early education effort is able to engage students and promote interest, however an integrated pathway to and through college is needed. This pathway needs to build upon early experiences with opportunities to advance across age groups. This paper presents the authors experience developing robotics curriculum across age groups. Middle and high school education has been implemented in a summer camp environment utilizing two co-robotic platforms, a water sensing robot called GUPPIE and an assistive robot named Neu-pulator, engaging 201 total students between Summer 2014-2017. The university course is a senior level technical elective introducing autonomous systems through a mobile robotic platform, a smart car, with 72 total students in Spring 2017 and 2018. In this work, the survey results gathered from Summer 2017 pre-college and Spring 2018 college level activities are presented. Overall observations and lessons learned across age groups are also discussed to better create a pathway from young learners to practicing engineers. The key to success of robotics programs at any age are hands-on, exciting activities with sufficient expert support so that students are able to learn in a frustration free environment.

关键词： Project-based learning and robotics Robotics curricula Robotics education Marine robots Assistive robots Mobile robots

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Walking Control Based on Step Timing Adaptation

Walking Control Based on Step Timing Adaptation

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作者： Khadiv, Majid Herzog, Alexander Moosavian, S. Ali. A. Righetti, Ludovic Righetti, Ludovic Movement Generation and Control Group Max-Planck Institute for Intelligent Systems Tuebingen72076 Germany Google X Mountain ViewCA94043 United States Department of Mechanical Engineering K. N. Toosi University of Technology Tehran*** Iran Department of Electrical and Computer Engineering New York University BrooklynNY11201 United States

Step adjustment can improve the gait robustness of biped robots;however, the adaptation of step timing is often neglected as it gives rise to nonconvex problems when optimized over several footsteps. In this article, we argue that it is not necessary to optimize walking over several steps to ensure gait viability and show that it is sufficient to merely select the next step timing and location. Using this insight, we propose a novel walking pattern generator that optimally selects step location and timing at every control cycle. Our approach is computationally simple compared to standard approaches in the literature, yet guarantees that any viable state will remain viable in the future. We propose a swing foot adaptation strategy and integrate the pattern generator with an inverse dynamics controller that does not explicitly control the center of mass nor the foot center of pressure. This is particularly useful for biped robots with limited control authority over their foot center of pressure, such as robots with point feet or passive ankles. Extensive simulations on a humanoid robot with passive ankles demonstrate the capabilities of the approach in various walking situations, including external pushes and foot slippage, and emphasize the importance of step timing adaptation to stabilize walking. © 2004-2012 IEEE.

关键词： Anthropomorphic robots

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Risk assessment in IoT case study: Collaborative robots system 1

Risk assessment in IoT case study: Collaborative robots syst...

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1st Eclipse Research International conference on Security, Artificial Intelligence and Modeling for the next generation Internet of Things, SAM IoT 2020

作者： Chehida, Salim Baouya, Abdelhakim Brun, Paul-Emmanuel Massot, Guillemette Cantero, Miquel University of Grenoble Alpes CNRS VERIMAG GrenobleF-38000 France Airbus CyberSecurity SAS Elancourt France Robotnik Automation S.L.L Valencia Spain

Security is one of the crucial challenges in the design and development of IoT applications. This paper presents an approach that focuses on existing security standards to evaluate and analyse the potential risks faced by IoT systems. It begins by identifying system assets and their associated vulnerabilities and threats. A list of security objectives and technical requirements are then defined to mitigate the risks and build a secure and safe system. We use our approach to assess risks in the robotic system for supporting the movement of loads in a warehouse. Copyright © 2020 for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0).

关键词： Risk assessment

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