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A neuro-controller for robotic manipulators based on biologically-inspired visuo-motor co-ordination neural models

A neuro-controller for robotic manipulators based on biologi...

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International IEEE/EMBS Conference on Neural Engineering, CNE

作者： G. Asuni F. Leoni E. Guglielmelli A. Starita P. Dario ARTS LAB (Advanced Robotics Technology and Systems Laboratory) Scuola Superiore Sant Anna Department of Informatics University of Pisa Pisa Italy ARTS LAB (Advanced Robotics Technology and Systems Laboratory) Scuola Superiore Sant'' Anna Pisa Italy Department of Informatics University of Pisa Italy

This paper presents a novel scheme for sensor-based control of robotics manipulators by means of artificial neural networks. The system is able to control simple reaching tasks by only fusing visual and proprioceptive sensory data, without computational kinematic modeling of the arm structure, Thanks to the generalization features typical of the neural approach, the same neurocontroller has been easily adapted and successfully validated for controlling different manipulators with different mechanical structures, i.e. number of degrees of freedom, link length and weight, etc. The proposed scheme is directly inspired to research results in the field of neuroscience, specifically on nervous structures and physiological mechanisms involved in sensory motor coordination. From a psychological point of view J. Piaget (1976) explained visuo-motor associations in his scheme of circular reaction. He observed how, by making endogenous movements and correlating the resulting arm and hand spatial locations, the brain allows an auto-association to be created between visual and proprioceptive sensing. The work presented in this paper is derived from the more recent DIRECT model proposed D. Bullock et al. (1993). Significant and original modifications of such model have been introduced by the authors to increase, at the same time, both system performance and the biological coherence. The proposed neurocontroller has been first simulated both in the 2-dimensional and the 3-dimensional case, and then implemented for experimental trials on two real robotic manipulators.

关键词： Manipulators Biological system modeling Robot kinematics Robot sensing systems Neurocontrollers Robot control Artificial neural networks Biology computing Computational modeling Neuroscience

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Expected perception: an anticipation-based perception-action scheme in robots

Expected perception: an anticipation-based perception-action...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： E. Datteri G. Teti C. Laschi G. Tamburrini G. Dario E. Guglielmelli Department of Philosophy University of Pisa Pisa Italy ARTS Lab (Advanced Robotics Technology and Systems Laboratory) Scuola Superiore Sant'' Anna Pontedera Italy

The paper proposes an anticipation mechanism to improve the perception-action loop of robots interacting with real-world environments. According to recent neuroscientific findings, sensory anticipation can increase the effectiveness of perception-action loops and reduce the delays in obtaining the sensory information, especially in case of complex sensory modalities like vision, that affect pure feed-back structures. In the proposed scheme, perception crucially involves comparison processes between incoming stimuli and expected perceptions (EPs), built from previous perceptions, current motor commands, and internal models of the robot and the environment. Background knowledge plays here a helpful role, as it reduces the computational burden of perception and motor coordination tasks in partially structured environments. In the work presented here, an EP mechanism has been applied in the visuo-motor coordination of an anthropomorphic 8 d.o.f. robotic manipulator equipped with a vision system, in order to evaluate the conditions of applicability of the proposed strategy, and to validate the viability and effectiveness of the initial hypothesis.

关键词： Robot kinematics Robot sensing systems Humans Orbital robotics Subspace constraints Paper technology Delay effects Anthropomorphism Robot vision systems Manipulators

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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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Design and development of a neurorobotic human-like 'guinea pig'

Design and development of a neurorobotic human-like 'guinea ...

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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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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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Experimental comparative evaluation of compliant control schemes for an anthropomorphic personal robot

Experimental comparative evaluation of compliant control sch...

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American Control Conference (ACC)

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

This paper investigates the problem of controlling an anthropomorphic robot arm with autonomously variable compliance in order to ensure safety in the interaction with humans and, above all, to increase the robot functionality in tasks of physical interaction, performed in co-operation with humans. The research work aims at applications in service robotics where the robot arm is used as a 'personal robot', for assistance to humans in different aspects of their everyday life. In personal applications of robotics, human-robot interaction represents a critical factor for the design of the robot and introduces strict requirements on its behavior and control, which has to ensure safety and effectiveness. Two different compliant control schemes have been developed for the peculiar structure of the Dexter robot arm, an anthropomorphic 8 d.o.f. manipulator, and their performances have been comparatively evaluated through experimental trials. The comparative evaluation of the two control schemes, through the analysis of their different advantages and disadvantages, points out an overall better performance of the compliant control scheme in the joint space, relatively to the management of the mechanics of the robotic system. So, it emerges how the performances of the two control systems are inverted with respect to the theoretical considerations on their accuracy and effectiveness, that could be done on the basis of the classical control theory. After a brief description of the control models, the paper focuses on the experimental sessions aimed at verifying the level of accuracy, affordability, functionality and safety of the implemented control systems.

关键词： Anthropomorphism Human robot interaction Safety Control systems Orbital robotics Performance evaluation Robot control Manipulators Performance analysis Control theory

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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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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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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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A modular and distributed supervisory system for a semi-autonomous personal robot for household applications

A modular and distributed supervisory system for a semi-auto...

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International Conference on advanced robotics (ICAR)

作者： E. Guglielmelli C. Laschi G. Teti R. Fontanelli P. Dario ARTS Laboratory (Advanced Robotics Technology and Systems Laboratory) Scuola Superiore Sant'' Anna Pisa Italy

The development of personal robots dedicated to service tasks, such as the assistance to the disabled and the elderly at home and/or in residential institutions, is certainly one of the most attractive challenges currently being faced by the robotics community world-wide. This paper aims at providing a specific contribution to one of the most interesting technical problems related to the development of such systems, i.e. high-level control and supervision during task execution, and describes an innovative approach for a semi-autonomous personal robot for household applications, based on the concepts of 'levels of autonomy' and 'system distribution'. It also describes the implementation of such an approach for the supervisor of the MOVAID robotic system, for residential care of disabled and elderly people. In the paper, the proposed approach is presented. Its current implementation for the MOVAID prototype, based on an object-oriented behavioural scheme, is also illustrated with preliminary indications on the experimental results and possible future developments.

关键词： Orbital robotics Control systems Senior citizens Human robot interaction Mobile robots Level control Subspace constraints laboratories Navigation Service robots

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