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检索条件"机构=Advanced Robotics Technology and Systems Lab"

共 197 条记录，以下是181-190 订阅

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Kinematics and kinetics analysis of gait on treadmill: A comparison between the performance of young and elderly people

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Gait & Posture 2006年 24卷 S1-S2页

作者： V. Monaco G. Macrì P. Dario S. Micera IMT (Institutions Markets and Technologies) Institute of Advanced Studies Lucca Italy ARTS Lab Advanced Robotics Technology and Systems Lab Scuola Superiore Sant’Anna Pisa Italy

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Development of a Bioinstrumentation System in the Interaction between a Human and a Robot

Development of a Bioinstrumentation System in the Interactio...

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Kazuko Itoh Hiroyasu Miwa Yuko Nukariya Massimiliano Zecca Hideaki Takanobu Stefano Roccella Maria Chiara Carrozza Paolo Dario Atsuo Takanishi ROBOCASA Tokyo Japan Department of Mechanical Engineering Waseda University Tokyo Japan Humanoid Robotics Institute (HRI) Waseda University Tokyo Japan Digital Human Research Center National Institute of Advanced Industrial Science and Technology (AIST) Tokyo Japan Graduate School of Science and Engineering Waseda University Tokyo Japan Department of Mechanical Systems Engineering Kogakuin University Tokyo Japan ASMeW Waseda University Tokyo Japan Scuola Superiore Sant Anna ARTS Laboratory Italy Scuola Superiore Sant' Anna ARTS Lab Pontedera Italy Advanced Research Institute for Science and Engineering Waseda University Tokyo Japan Tokyo Japan

Personal robots, which are expected to become popular in the future, are required to be active in joint work and community life with humans. Such robots must have no bad physical or psychical effect on humans. The psychical effect of a robot on humans has been subjectively measured using questionnaires. However, it has not been objectively measured yet. Human emotion and the consciousness direction can be measured by physiological parameters and body motion, respectively. Therefore, the bioinstrumentation system WB-1 was developed in order to objectively measure the psychical effect of a robot on a human. It can measure physiological parameters such as respiration, heart rate, perspiration and pulse wave, and arm motion. Analyzing human stress in the interaction with a robot from electrocardiogram, the robot could generate a motion for decreasing the stress

关键词： Human robot interaction Robot kinematics Humanoid robots Service robots Psychology Biomedical measurements Biomedical engineering Orbital robotics Intelligent robots Motion measurement

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A step toward GPS/INS personal navigation systems: real-time assessment of gait by foot inertial sensing

A step toward GPS/INS personal navigation systems: real-time...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： F. Cavallo A.M. Sabatini V. Genovese ARTS Lab-Advanced Robotics Technology & Systems Lab Scuola Superiore Sant'' Anna Pisa Italy

In this paper, we develop a system for which applications in the field of personal navigation are planned. In the current version, the system embodies a Global Positioning System (GPS) receiver and an inertial measurement unit (IMU), composed of two dual-axis accelerometers and one single-axis gyro. The IMU is positioned at a subject's foot instep, and it is intended to produce estimates of some gait parameters, including stride length, stride time, and walking speed. Data from GPS and IMU are managed by a DSP-based control box. The computations performed by the DSP processor allow to detect subsequent foot contacts by a threshold-based method applied to gyro signal, and to reconstruct the trajectory of the foot instep by numerical strapdown integration. Features of human walking dynamics are incorporated in the algorithm to enhance the estimation accuracy against errors due to sensor noise and integration drift. All computations are performed by the DSP processor in real-time conditions. The foot sensor performance is assessed during outdoor level walking trials. The traveled distance estimated by inertial dead-reckoning is compared with the estimate produced by GPS in experimental conditions where GPS can be used as a reference source for accurate absolute positioning. Results show the remarkable accuracy achieved by foot inertial sensing.

关键词： Global Positioning System Navigation Real time systems Foot Legged locomotion Digital signal processing Measurement units Accelerometers Signal processing Humans

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Experimental analysis of the conditions of applicability of a robot sensorimotor coordination scheme based on expected perception

Experimental analysis of the conditions of applicability of ...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

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

This paper describes an experimental work conducted in order to estimate the conditions of applicability of expected perception (EP) based on a scheme for robot sensorimotor coordination. The starting hypothesis is that predictions of incoming sensory data can improve sensorymotor coordination respect to pure feedback loops. This implies that the environment presents a level of predictability, as in realistic environments. An implementation of the EP-based scheme has been realized on a platform composed by the Dexter 8-d.o.f. robotic arm and a color camera, for executing a pushing task in a real-world environment. Its performance, where defined as a combination of the error in the trajectory following and the computational effort, has been compared with that of a feedback-based system executing the same task in the same environmental conditions. The results have been put in relation with the degree of environmental predictability, which was controlled in the experimental trials. The experimental results give support and useful insights for analyzing the applicability of the EP-based scheme.

关键词： Robot sensing systems Robot kinematics Humans Delay Sensor systems Subspace constraints Paper technology laboratories Feedback loop Robot vision systems

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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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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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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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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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