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

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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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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Controlling contact by integrating proximity and force sensing 2nd

Controlling contact by integrating proximity and force sensi...

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2nd International Symposium on Experimental robotics, ISER 1991

作者： Allotta, Benedetto Buttazzo, Giorgio Dario, Paolo Guglielmelli, Eugenio Advanced Robotics Technology and Systems Laboratory ARTS Lab Scuola Superiore S. Anna Pisa Italy

ISBN: (纸本)9783540198512

This paper describes a sensor-based robot control method for handling non contact to contacttransitions in partially unknown environment. The proposed approach is based on the integration of proximity and force/torque sensing capabilities. Proximity information is used not only to avoid undesired contacts during robot operation but also to improve efficiency in terms of speed and safety, when the contact is desired. By detecting in advance the target surface to be reached, it is possible to plan the trajectory in order to optimize the approach velocity profile, as well as to maintain the impact forces at the desired level by means of force control. © 1993, Springer Verlag. All rights reserved.

关键词： Computers

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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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Movement Control and Attitude Adjustment of Climbing Robot on Flexible Surfaces

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2018年第3期65卷 2618-2628页

作者： Wu, Xinyu Liu, Jia Zhou, Yimin Lv, Qin Hu, Chaofang CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems and Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems and Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems and Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems and Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China School of Electrical and Information Engineering Tianjin University Tianjin China

In this paper, a series of control algorithms have been designed for the climbing cloth robot, "Clothbot" to climb vertically. The developed algorithm consists of three parts: a sliding mode control with integral action (SMC with integral action), a linear quadratic regulator, and dead reckoning for semi-autonomous navigation. First, the SMC with integral action is developed for high-precision position tracking and speed tracking of the permanent magnet direct current (PMDC) motor installed on the robot. The error between the expected velocity and the actual velocity of the PMDC motor is adopted to design the sliding surface. In order to compensate the fluctuation of the load torque due to the varied friction during climbing, an observer is formulated to estimate the load torque in real-time. Second, the LQR is employed for attitude adjustment by an active torque so as to prevent the robot from falling or being jammed during the movement. Third, due to the onboard-limited energy, the robot is just equippedwith semi-autonomous navigation named dead reckoning carrying on primary localization and primary path planning. Experiments are performed to verify the efficacy of the proposed control algorithms.

关键词： Climbing robot flexible surface linear quadratic regulator load observer sliding mode control with integral action

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Topology Based Fuzzy Clustering for Robust ANFIS Creation

Topology Based Fuzzy Clustering for Robust ANFIS Creation

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IEEE International Conference on Cybernetic Intelligent systems

作者： Lord Kenneth Pinpin Daniel Fernando Tello Gamarra Cecilia Laschi Paolo Dario Scuola Superiore Sant'Anna ARTS Lab (Advanced Robotics Technology and Systems Laboratory)

ISBN: (纸本)9781424429141

This paper describes how the clustering topology of an input space data distribution is utilized to properly initialize an Adaptive Neuro-Fuzzy Inference System (ANFIS). We used a new unsupervised clustering algorithm called Topology based Fuzzy Clustering (TFC) that performs better than Growing Neural Gas (GNG) in extracting the input-space topology. The topology information in the form of number of nodes, node positions and node connectivity is used for the initialization of the ANFIS. Using two robotic modeling tasks as benchmarks, we demonstrate the improved performance of TFC-derived ANFIS when compared to the subclustering method found in the Fuzzy Logic Toolbox of Matlab.

关键词： Robustness Clustering algorithms Network topology Neural networks Equations Robots Data mining Fuzzy logic Kinematics Manipulators

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A novel wearable interface for robotic hand prostheses

A novel wearable interface for robotic hand prostheses

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： M.C. Carrozza A. Persichetti C. Laschi F. Vecchi R. Lazzarini V. Tamburrelli P. Vacalebri P. Dario Advanced Robotics Technology and Systems Laboratory of the Scuola Superiore ARTS Laboratory Pisa Italy

This paper presents an experimental investigation on a novel interface for high level control of hand prostheses, based on selected foot movements. A prototype has been developed that integrates four sensitive areas, battery, and electronics for data acquisition and wireless transmission into a wearable insole. The prototype foot interface has been experimentally validated in the control of a robotic hand prosthesis. Comparative experimental trials were conducted with 10 able-bodied subjects, with both the foot interface and an electromyographic (EMG)-based control. The results confirmed the effectiveness of the foot interface in the control of the hand prosthesis and showed a significant decrease in required adaptation and learning from the user's side.

关键词： Robots Prosthetics Switches Batteries Flexible printed circuits Prototypes Legged locomotion Accelerometers Rehabilitation robotics Bluetooth

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Thermal and Magnetic Dual-Responsive Catheter-Assisted Shape Memory Microrobots for Multistage Vascular Embolization

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Research 2024年第3期2024卷 529-543页

作者： Qianbi Peng Shu Wang Jianguo Han Chenyang Huang Hengyuan Yu Dong Li Ming Qiu Si Cheng Chong Wu Mingxue Cai Shixiong Fu Binghan Chen Xinyu Wu Shiwei Du Tiantian Xu Guangdong Provincial Key Lab of Robotics and Intelligent Systems Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina University of Chinese Academy of Sciences BeijingChina Department of Neurosurgery South China HospitalMedical SchoolShenzhen University.ShenzhenChina The Key Laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina.

Catheters navigating through complex vessels,such as sharp turns or multiple U-turns,remain challenging for vascular ***,we propose a novel multistage vascular embolization strategy for hard-to-reach vessels that releases untethered swimming shape-memory magnetic microrobots(SMMs)from the prior catheter to the vessel ***,made of organo-gel with magnetic particles,ensure biocompatibility,radiopacity,thrombosis,and fast thermal and magnetic *** SMM is initially a linear shape with a 0.5-mm diameter at 20°C inserted in a *** transforms into a predetermined helix within 2 s at 38°C blood temperature after being pushed out of the catheter into the *** enable agile swimming in confined and tortuous vessels and can swim upstream using helical propulsion with rotating magnetic ***,we validated this multistage vascular embolization in living rabbits,completing 100-cm travel and renal artery embolization in 2 *** 4 weeks,the SMMs maintained the embolic position,and the kidney volume decreased by 36%.

关键词： turns maintained travel

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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...

引用

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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Forward Model Creation for Visual Servoing in a Six Link Manipulator

Forward Model Creation for Visual Servoing in a Six Link Man...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Lord Kenneth Pinpin Daniel Fernando Tello Gamarra Cecilia Laschi Paolo Dario Scuola Superiore SantAnna ARTS Laboratory-Advanced Robotics Technology and Systems Laboratory Pisa Italy

This paper shows the utility of a forward model for improving the visual servoing performance of a robotic manipulator. Following a developmental robotics approach, the manipulator undergoes a motor babbling phase which is used to create a forward model using an ANFIS neural network. The forward model maps the relationship between the joint positions and the image of the end effector in two camera views. Using the obtained forward model, an initial image Jacobian is estimated and is used with a visual servoing controller. Simulation results demonstrate that errors are significantly lower when the estimated Jacobian is used.

关键词： Visual servoing Robots Biological system modeling Manipulators Jacobian matrices Servomotors Inverse problems Kinematics Cognitive robotics Adaptive systems

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