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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： P. Dario C. Laschi A. Menciassi E. Guglielmelli M.C. Carrozza S. Micera CRIM (Center for Research on Microengineering) Scuola Superiore Sant'Anna Pisa Italy Advanced Robotics Technology and Systems Laboratory Pisa Italy ARTS Lab (Advanced Robotics Technology and Systems Laboratory) Scuola Superiore Sant'Anna Pisa Italy Center for Research on Microengineering Pisa Italy

robotics technology is mature enough to provide helpful tools in the study of biological systems. The recent advances of humanoid robotics led to achievements in the development of human-like body parts and whole bodies, as well as of perceptual systems and schemes for behavior planning and learning. For this reason, a step further can be envisaged in the application of human-like robots as 'guinea pigs' for neuroscientific studies of Man. Aiming at combining humanoid robotics and neurosciences, this is a very promising research area which can he referred to as "neurorobotics". This paper presents a human-like robotic manipulation platform for implementing neuro-physiological models of sensory-motor coordination in human grasping. The system is composed of sensors and actuators replicating some level of anthropomorphism, in the physical structure and/or in the functionality. For this reason, their specifications are defined together with neurophysiologists. Software modules implement human-like basic mechanisms of perception and learning, on which more complex architectures are developed. The system is integrated so as to be as modular as possible and to be rearranged for validating different solutions. The performance of the system in grasping is evaluated by techniques and tools derived from functional evaluation of humans in rehabilitation.

关键词： Robot sensing systems Humanoid robots Robot kinematics Anthropomorphism Sensor systems Actuators Rehabilitation robotics Human robot interaction Proportional control Biology

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An anthropomorphic robotic platform for experimental validation of biologically-inspired sensory-motor co-ordination in grasping

An anthropomorphic robotic platform for experimental validat...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： C. Laschi P. Gorce J.-L. Coronado F. Leoni G. Teti N. Rezzoug A. Guerrero-Gonzalez J.L.P. Molina L. Zollo E. Guglielmelli P. Dario Y. Burnod ARTS Laboratory Advanced Robotics Technology and Systems Laboratory Pisa Italy Scuola Superiore Sant'Anna ARTS Lab (Advanced Robotics Technology and Systems Laboratory) Pisa Italy Universidad Politecnica de Cartagena Cartagena Spain Université paris VI Paris France U483 INSERM Universite aris VI Paris France

The aim of the work is the integration of an anthropomorphic robotic platform, starting from a neurophysiological model of grasping, in order to provide tools for an experimental validation of the model and also to provide new anthropomorphic solutions for robot grasping. The resulting robotic system is composed of an anthropomorphic arm/hand system and visual and tactile sensors. Grasp planning, control and learning have been achieved by a neural approach, inspired by a model of the inter-connections among the brain areas involved in grasping, as formulated by neurophysiologists. After a description of objectives and specifications for the robotic platform, the system is illustrated and experimental results are reported. Finally, the results are discussed as a starting point for current activities, involving the development of novel human-like robotic components and the implementation of more sophisticated learning schemes.

关键词： Anthropomorphism Robot sensing systems Humanoid robots Service robots Cognitive robotics Intelligent robots Human robot interaction Psychology Neuroscience Neurophysiology

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Compliant control for a cable-actuated anthropomorphic robot arm: an experimental validation of different solutions

Compliant control for a cable-actuated anthropomorphic robot...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Zollo B. Siciliano C. Laschi G. Teti P. Dario ARTS Lab (Advanced Robotics Technology and Systems Laboratory Scuola Superiore Sant' Anna Pisa Italy PRISMA LAB-Dipartimento di Informatica e Sistemistica Università degli Studi di Napoli Federico II Napoli Italy Humanoid Robotics Institute Waseda University Tokyo Japan

This paper presents a research work on compliant control of an anthropomorphic robot arm used as a personal robot. In personal applications of robotics, human-robot interaction represents a critical factor for a robot design and introduces strict requirements on its behavior and control, which has to ensure safety and effectiveness. In this work, the problem of controlling the Dexter anthropomorphic robot arm with variable compliance has been investigated, not only to ensure safety in the interaction with humans, but especially to increase the robot functionality in tasks of physical interaction, performed in co-operation with humans. Two different control schemes have been formulated and implemented, to compare their performance experimentally. Both schemes aim at realising a self-controlled compliant behavior without using information from force/torque sensors. The experimental comparison outlines how the performance of the two control systems are inverted with respect to the theoretical considerations, based on the classical control theory, on their accuracy and effectiveness.

关键词： Anthropomorphism Control systems Human robot interaction Impedance Safety Force control Service robots Robot control Face Communication cables

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Recognizing hand posture by vision: applications in humanoid personal robotics

Recognizing hand posture by vision: applications in humanoid...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C. Laschi M. Gonzalo-Tasis J.F. Codes P. Dario Arts Lab (Advanced Robotics Technology and Systems Laboratory) Scuola Superiore Sant'' Anna Pisa Italy Humanoid Robotics Institute Waseda University Tokyo Japan Eca-Simm Group Department of Computer Science University of Valladolid Spain Department of Algebra Geometry and Topology University of Valladolid Spain

In the development of humanoid personal robots, accompanying the life of humans in their everyday activities, vision is no doubt an extremely important sensory capability to provide the robots with. We propose the application of robot vision to the identification of hand posture, as a first step in gesture detection, for two main classes of reasons: 1) the recognition of human hand posture can help human-robot interaction, especially in relation to 'teaching by demonstration'; 2) the recognition of the robot hand can allow visual servoing, especially helpful in environments and tasks with a high level of uncertainty. The paper presents the development of a vision system for hand posture recognition, by describing the basic algorithmic implementation, based on symbolic representations, and reporting the experimental results obtained in the recognition of a three-fingered robotic hand.

关键词： Humanoid robots Robot vision systems Robot kinematics Robot sensing systems Human robot interaction Visual servoing Education robotics and automation Grasping Subspace constraints

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An impedance-compliance control for a cable-actuated robot

An impedance-compliance control for a cable-actuated robot

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： L. Zollo B. Siciliano C. Laschi G. Teti P. Dario E. Guglielmelli ARTS Lab (Advanced Robotics Technology and Systems Laboratory)-Seuola Superiore Sant’ Anna Pisa Italy Scuola Superiore SantE28099Anna Piazza Martin della Libertà 33 Advanced Robotics Technology and Systems Laboratory Pisa Italy PRISMA LAB-Dipartimento di Informatica e Sistemistica Università degli Studi di Napoli Federico II Napoli Italy PRISMA Laboratory-Dipartimento di Informatics e Sistemistica Università degli Studi di Napoli Federico II Napoli Italy

A research work on the interaction control of a cable-actuated robot arm, the Dexter arm, is presented in this paper. Firstly, general considerations on the cable-actuated structures and their application potential are provided and then the Dexter structure peculiarities are accurately analyzed in order to develop proper control solutions. Starting from the analysis of the limitations of the compliance control schemes in Cartesian space and in joint space, previously implemented and experimentally validated on the Dexter arm, a novel control strategy, named impedance-compliance controller, is developed. The proposed control strategy tries to combine the benefits of a compliance control scheme in Cartesian space with the benefits of an impedance control scheme in the operational space by compensating the dynamics of the sole proximal joints. The impedance-compliance controller is capable to achieve accurate smooth motions while guaranteeing functional control of the whole structure, even though a greater computational complexity is required The last section of the paper, dedicated to the experimental results, points out the differences with the previously experimented control solutions anti provides some proofs of the increased Dexter functionality.

关键词： Impedance Service robots Motion control Force control Control systems Communication cables Friction Robotic assembly Subspace constraints laboratories

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Functional compliance in the control of a personal robot

Functional compliance in the control of a personal robot

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)

作者： L. Zollo C. Laschi G. Teti B. Siciliano P. Dario Scuola Superiore SantE28099Anna ARTS Laboratory-Advanced Robotics Technology and Systems Laboratory Pisa Italy Scuola Superiore Sant'Anna ARTS Lab (Advanced Robotics Technology and Systems Laboratory) Pisa Italy Dipartimento di Informatica e Sistemistica Università degli Studi di Napoli Federico II Napoli Italy

The research in the field of advanced robotics is turning its attention more and more to man and his assistance, by developing systems such as service robots, personal robots, and even humanoid robots. Interaction control of such robot manipulators is of paramount importance for an effective execution of manipulation and tracking and, over all, for a safe and effective interaction with the humans. The paper concerns the problem of the control of an 8 degree of freedom anthropomorphic arm named DEXTER, mounted on the mobile platform of the MOVAID System, a robotic system for household personal assistance. The goal is to realize a compliant control for this manipulator in tasks of assistance to disabled and elderly people. On the basis of the control theory applied to industrial robotics, a specific compliant control solution has been developed for the DEXTER peculiar mechanical structure and actuation system, which cause a coupled joint configuration. The solution provides the capability of regulating the robot compliance according to the level of stiffness of the interaction environment. The paper describes the theoretical model of the control system, the implementation on the MOVAID platform and the experimental results in the execution of a set of demonstration tasks.

关键词： Service robots Humanoid robots Manipulators Control systems Turning Robot control Human robot interaction Anthropomorphism Mobile robots Senior citizens

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Robot assistants: Applications and evolution

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robotics AND AUTONOMOUS systems 1996年第1-2期18卷 225-234页

作者： Dario, P Guglielmelli, E Genovese, V Toro, M Scuola Superiore Sant'Anna Advanced Robotics Technology and Systems (ARTS) Lab via Carducci 40 56127 Pisa Italy

Service robots are machines designed to work not only for human beings (like the industrial robot) but also with human beings. In addition to challenging technical problems, the application of service robots in real-life situations requires to address intriguing issues concerning their interactions with humans. We are investigating both types of problems with reference to three different case studies and real research projects: a mobile robot system primarily aimed at the assistance of patients in hospitals and institutions (the ''URMAD'' project);a mobile robot system for the assistance to the disabled and the elderly at home (the ''MOVAID'' project);and a wheelchair incorporating a robot arm (the ''IMMEDIATE'' project). The paper discusses the design of the three robotic systems as well as their practical implementation and preliminary experimental results. Finally, the paper addresses recent results which could lead to the implementation of cybernetic prostheses, that is devices which would ultimately allow to achieve real intimate physical symbiosis between human beings and artificial robotic devices.

关键词： robotics mechatronics service robots human/machine interaction

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robotics for medical applications

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IEEE robotics & AUTOMATION MAGAZINE 1996年第3期3卷 44-56页

作者： Darie, P Guglielmelli, E Allotta, B Carrozza, MC Medical Robotics Scuola Superiore SantAnna Pisa Robotics Technology and Systems Laboratory (ARTS Lab) Scuolo Superiore SantAnna Pisa Applied Mechanics Scuola Superiore S. Anna Microfabrication Technology Laboratory (Mitech Lab) Scuola Superiore SantAnna Pisa

The authors review the most important past and ongoing research projects in macro-robotics, micro-robotics and bio-robotics, three general areas of robotics which have the potential to provide significant improvements to the state of the art of medical technology. A brief analysis of the economic potentialities of robotics in medicine is also provided.

关键词： surgical robotics rehabilitation robotics bio-robotics mechatronics

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Correlation-based in-air sonar sensor arrays for 3D object tracking and identification

Correlation-based in-air sonar sensor arrays for 3D object t...

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IEEE Instrumentation and Measurement technology Conference

作者： A.M. Sabatini A. Rocchi Advanced Robotics Technology and Systems Laboratory (ARTS Lab) Scuola Superiore Sant' Anna Pisa Italy

The developed airborne ultrasonic ranging systems employ digital-signal-processing techniques in the attempt to perform digital time-of-flight measurements using correlation methods. The main emphasis in this paper is given to the description of the technical solutions we have adopted in an effort to drive the system complexity down. Bandwidth sampling and digital interpolation techniques are proposed to perform the coherent demodulation of the narrowband received signals to baseband, so as to reduce the overall time complexity involved in computing the correlation functions. Via standard analog multiplexing techniques a sampling frame is defined to manage a number of transducers through a single, relatively slow analog-to-digital converter. Two versions of tracking sonar devices endowed with one transmitting transducer and four receiving transducers for operation at either high or low ultrasonic frequencies are illustrated.

关键词： Sensor arrays Ultrasonic transducers Sampling methods Sonar measurements Performance evaluation Ultrasonic variables measurement Correlation Bandwidth Interpolation Demodulation

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LOW-COST, REDUNDANT PROXIMITY SENSOR SYSTEM FOR SPATIAL SENSING AND COLOR-PERCEPTION

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ELECTRONICS LETTERS 1995年第8期31卷 632-633页

作者： GENOVESE, V GUGLIELMELLI, E MANTUANO, A RATTI, G SABATINI, AM DARIO, P Advanced Robotics Technology and Systems (ARTS Lab) Scuola Superiore Sant'Anna Pisa Italy

The authors describe their approach to the design of redundant proximity sensor systems that are capable of extracting geometrical information about the surrounding environment and perceiving other relevant features of the reflecting objects, e.g. colour. Potential applications of the proposed sensorial systems are in the field of robotics and autonomous mobility.

关键词： ULTRASONIC TRANSDUCERS INFRARED IMAGING INFRARED DETECTORS SENSOR FUSION

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