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 app...
详细信息
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.
The research in the field of advancedrobotics 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 con...
详细信息
The research in the field of advancedrobotics 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.
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-l...
详细信息
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.
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...
详细信息
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.
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 o...
详细信息
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.
The capability of autonomously discovering relations between perceptual data and motor actions is crucial for the development of robust adaptive robotic systems intended to operate in an unknown environment. In the ca...
详细信息
The capability of autonomously discovering relations between perceptual data and motor actions is crucial for the development of robust adaptive robotic systems intended to operate in an unknown environment. In the case of robotic tactile perception, a proper interaction between contact sensing and motor control is the basic step toward the execution of complex motor procedures such as grasping and manipulation. In this paper the autonomous development of cutaneo-motor coordination is investigated in the case of a robotic finger mounted on a robotic manipulator, for a particular class of micro-movements. A neural network architecture linking changes in the sensed tactile pattern with the motor actions performed is described and experimental results are analyzed. Examples of application of the developed sensory-motor coordination in the generation of motor control procedures for the estimate of surface curvature are considered.
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...
详细信息
暂无评论