This paper presents the work currently done at LAAS/CNRS about scene interpretation required for manipulation tasks by a mobile arm. This task is composed of two steps: the approach of the mobile platform along the ma...
详细信息
This paper presents an integrated approach of developing the automatic assembly sequence planning system for robot-based assembly automation. It provides an off-line robot assembly system with an 'automatic re-pro...
详细信息
This paper presents an integrated approach of developing the automatic assembly sequence planning system for robot-based assembly automation. It provides an off-line robot assembly system with an 'automatic re-programming' feature that enables a robot to practice an assembly task off-line and then to use it as the knowledge to generate other feasible assembly sequence plans so that the robot can re-program itself. In addition to demonstrating with this exercise the close link between robot assembly programming and planning, a new scheme of assembly sequencing model for fast planning from a set of task sequences is discussed.
This paper presents the implementation of the panoramic, linear, articial retina EDI within the frame of the Webots mobile-robotics simulator. The structure and functioning of the simulation are presented. Realistic s...
详细信息
An important aspect of computer-controlled camera motion systems is that of the generation of saccadic movements, which shift the camera gaze quickly from one fixation position to another. Recent psychophysical experi...
详细信息
An important aspect of computer-controlled camera motion systems is that of the generation of saccadic movements, which shift the camera gaze quickly from one fixation position to another. Recent psychophysical experiments suggest that there exists a causal connection between spatial shifts in visual attention and the production of saccadic eye movements in humans. Motivated by this experimental evidence, we propose a winner-take-all based model of exogenous spatial attention, involving both sustained and transient feature detection channels, and link it to the targeting and triggering of saccadic eye movements. We show that this model accounts for a range of oculomotor phenomena observed in human subjects. We describe the application of this model to a robotic camera gaze control system.
robots have the potential to assist in orthopedic surgery and improve the outcome of prosthetic implants. robots have high positional accuracy, and so can achieve the geometrical precision necessary for implanting pro...
详细信息
ISBN:
(纸本)3540627340
robots have the potential to assist in orthopedic surgery and improve the outcome of prosthetic implants. robots have high positional accuracy, and so can achieve the geometrical precision necessary for implanting prostheses into the tibia and femur but poor tactile response, so are not good at assessing the forces required to apply to a cutter while resecting bone;while surgeons have a good tactile sense, and are able to sense changes in bone density, and adjust cutting forces to match. A system is described here that exploits the synergy between robot and surgeon. A force controlled robot is used, guided from the end-effector by the surgeon. The robot exploits a software based motion constraint system to ensure that the surgeon cannot move a cutting device connected to the robot outside of a safe region, or resect more bone than is required. Thus, the surgeon retains his tactile sense of the bone, while the precision of the robot allows the;bones to be cut accurately. Preliminary results are presented in this paper. More complete details of the robot and system performance will be presented at the symposium.
The main problem that we address in this paper is how a robot manipulator is able to manipulate a part in a reconfigurable workcell which consists of a moving disc conveyor;a single CCD camera and a robot manipulator....
详细信息
The main problem that we address in this paper is how a robot manipulator is able to manipulate a part in a reconfigurable workcell which consists of a moving disc conveyor;a single CCD camera and a robot manipulator. The important assumption that distinguishes our work from what has been previously reported in the literature is that the position and orientation of the camera and the base frame of the robot is apriori assumed to be unknown;which is a common case in reconfigurable workcell and is `visually calibrated' during the operation of the manipulator. Moreover the part placed on the conveyor is assumed to be non-planar;i.e. the feature points observed on the part is assumed to be located arbitrarily in R3. The novelties of the proposed approach in this paper includes a (i) multi-sensor fusion scheme based on complementary data for the purpose of part localization;and (ii) self-calibration between the turntable and the robot manipulator using visual data and feature points on the end-effector. The principle advantages of the proposed scheme are the following. (i) It renders possible to reconfigure a manufacturing workcell without re-calibrating the relation between the turntable and the robot. This significantly shortens the setup time of the workcell. (ii) It greatly weakens the requirement on the image processing speed.
We present the first results from comparative investigations of conventional neuroendoscopy and robot-assisted neuroendoscopy. In a simulated clinical setting, the endoscopic evacuation of an in vitro intracerebral he...
详细信息
暂无评论