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Herb 2.0: Lessons learned from developing a mobile manipulator for the home

Herb 2.0: Lessons learned from developing a mobile manipulat...

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作者： Srinivasa, Siddhartha S. Berenson, Dmitry Cakmak, Maya Collet, Alvaro Dogar, Mehmet R. Dragan, Anca D. Knepper, Ross A. Niemueller, Tim Strabala, Kyle Vande Weghe, Mike Ziegler, Julius Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States Electrical Engineering and Computer Science Department University of California Berkeley Berkeley 94703 United States School of Interactive Computing Georgia Institute of Technology Atlanta GA 30332 United States Knowledge-based Systems Group RWTH Aachen University Aachen 52062 Germany Department of Measurement and Control Systems Karlsruhe Institute of Technology Karlsruhe D-76128 Germany

We present the hardware design, software architecture, and core algorithms of Herb 2.0, a bimanual mobile manipulator developed at the Personal robotics Lab at Carnegie Mellon University, Pittsburgh, PA. We have developed Herb 2.0 to perform useful tasks for and with people in human environments. We exploit two key paradigms in human environments: that they have structure that a robot can learn, adapt and exploit, and that they demand general-purpose capability in robotic systems. In this paper, we reveal some of the structure present in everyday environments that we have been able to harness for manipulation and interaction, comment on the particular challenges on working in human spaces, and describe some of the lessons we learned from extensively testing our integrated platform in kitchen and office environments. © 2012 IEEE.

关键词： Motion planning

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Prosthesis-User-in-the-Loop: A User-Specific Biomechanical Modeling and Simulation Environment

Prosthesis-User-in-the-Loop: A User-Specific Biomechanical M...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： J. Wojtusch P. Beckerle O. Christ K. Wolff O. von Stryk S. Rinderknecht J. Vogt Department of Computer Science Simulation Systems Optimization and Robotics Group Technische Universit?t Darmstadt 64289 Darmstadt Germany Department of Mechanical Engineering Institute of Mechatronic Systems in Mechanical Engineering Technische Universit?t Darmstadt 64287 Darmstadt Germany Department of Human Science Work and Engineering Psychology Research Group Technische Universit?t Darmstadt 64283 Darmstadt Germany

ISBN: (纸本)9781424441198

In this paper, a novel biomechanical modeling and simulation environment with an emphasis on user-specific customization is presented. A modular modeling approach for multi-body systems allows a flexible extension by specific biomechanical modeling elements and enables an efficient application in dynamic simulation and optimization problems. A functional distribution of model description and model parameter data in combination with standardized interfaces enables a simple and reliable replacement or modification of specific functional components. The user-specific customization comprises the identification of anthropometric model parameters as well as the generation of a virtual three-dimensional character. The modeling and simulation environment is associated with Prosthesis-User-in-the-Loop, a hardware simulator concept for the design and optimization of lower limb prosthetic devices based on user experience and assessment. For a demonstration of the flexibility and capability of the modeling and simulation environment, an exemplary application in context of the hardware simulator is given.

关键词： novel biomechanical simulation environment customization comprises

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Prosthesis-User-in-the-Loop: User-Centered Design Parameters and Visual Simulation

Prosthesis-User-in-the-Loop: User-Centered Design Parameters...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： O. Christ J. Wojtusch P. Beckerle K. Wolff J. Vogt O. von Stryk S. Rinderknecht Department of Human Science Work and Engineering Psychology Research Group Technische Universit?t Darmstadt 64283 Darmstadt Germany Department of Computer Science Simulation Systems Optimization and Robotics Group Technische Universit?t Darmstadt 64289 Darmstadt Germany Department of Mechanical Engineering Institute for Mechatronic Systems in Mechanical Engineering Technische Universit?t Darmstadt 64287 Darmstadt Germany

ISBN: (纸本)9781424441198

After an amputation, processes of change in the body image as well as a change in body scheme have direct influences on the quality of living in every patient. Within this paper, a paradigm of experimental induced body illusion (the Rubber Hand Illusion, RHI) is integrated in a prosthetic hardware simulator concept. This concept combines biodynamical and visual feedback to enhance the quality of rehabilitation and to integrate patients' needs into the development of prostheses aiming on user-centered solutions. Therefore, user-centered design parameters are deducted. Furthermore, the basic concept of the visual simulation is presented and a possibility for its implementation is given. Finally, issues and conclusions for future work are described.

关键词： amputation processes conclusions

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Distributed Virtual Diskless Checkpointing: A Highly Fault Tolerant Scheme for Virtualized Clusters

Distributed Virtual Diskless Checkpointing: A Highly Fault T...

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IEEE International Symposium on Parallel and Distributed Processing Workshops and Phd Forum (IPDPSW)

作者： Ben Eckart Xubin He Chentao Wu Ferrol Aderholdt Fang Han Stephen Scott Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering Virginia Commonwealth University Richmond VA USA Department of Computer Science Tennessee Technological University Cookeville TN USA Oak Ridge National Laboratory Oak Ridge TN USA

ISBN: (纸本)9781467309745

Today's high-end computing systems are facing a crisis of high failure rates due to increased numbers of components. Recent studies have shown that traditional fault tolerant techniques incur overheads that more than double execution times on these highly parallel machines. Thus, future high-end computing must be able to provide adequate fault tolerance at an acceptable cost or the burdens of fault management will severely affect the viability of such systems. Cluster virtualization offers a potentially unique solution for fault management, but brings significant overhead, especially for I/O. In this paper, we propose a novel diskless check pointing technique on clusters of virtual machines. Our technique splits Virtual Machines into sets of orthogonal RAID systems and distributes parity evenly across the cluster, similar to a RAID-5 configuration, but using VM images as data elements. Our theoretical analysis shows that our technique significantly reduces the overhead associated with check pointing by removing the disk I/O bottleneck.

关键词： Checkpointing Fault tolerant systems Fault tolerance Program processors Hardware Virtual machining Libraries

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Modeling of Visuospatial Perspectives Processing and Modulation of the Fronto-Parietal Network Activity during Action Imitation

Modeling of Visuospatial Perspectives Processing and Modulat...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Hyuk Oh Rodolphe J. Gentili James A. Reggia José L.Contreras-Vidal Neuroscience and Cognitive Science Program University of Maryland College Park MD 20742 USA Department of Kinesiology the Maryland Robotics Center and the Neuroscience and Cognitive Science Program University of Maryland College Park MD 20742 USA Department of Computer Science and the University of Maryland Institute for Advanced Computer Studies University of Maryland College Park MD 20742 USA Department of Electrical and Computer Engineering University of Houston Houston TX 77004 USA

ISBN: (纸本)9781424441198

It has been suggested that the human mirror neuron system (MNS) plays a critical role in action observation and imitation. However, the transformation of perspective between the observed (allocentric) and the imitated (egocentric) actions has received little attention. We expand a previously proposed biologically plausible MNS model by incorporating general spatial transformation capabilities that are assumed to be encoded by the intraparietal sulcus (IPS) and the superior parietal lobule (SPL) as well as investigating their interactions with the inferior frontal gyrus and the inferior parietal lobule. The results reveal that the IPS/SPL could process the frame of reference and the viewpoint transformations, and provide invariant visual representations for the temporo-parieto-frontal circuit. This allows the imitator to imitate the action performed by a demonstrator under various perspectives while replicating results from the literatures. Our results confirm and extend the importance of perspective transformation processing during action observation and imitation.

关键词： importance observation transformation

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Stability and transparency improvement in haptic device employing both MR-brake and active actuator

Stability and transparency improvement in haptic device empl...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Ozgur Baser E. ilhan Konukseven Hakan Gurocak Mechanical Engineering Department Middle East Technical University Turkey Robotics and Automation Laboratory Washington State University Vancouver WA USA Mechanical Engineering Department Middle East Technical University Cankaya Ankara Turkey School of Engineering and Computer Science Washington State University Vancouver WA USA

An ideal haptic device should transmit a wide range of stable virtual model impedances (Z-width) with high transparency. Magneto-rheological fluid (MR) brakes are advantageous in haptic devices since they are passive actuators. However, they cannot provide high transparency and smooth interaction due to high viscous friction, residual torque, slow response, sticking and hysteresis effects. On the other hand, active actuators cannot simulate high virtual impedances stably, but provide high transparency with a closed loop control algorithm. In the proposed hybrid actuation a task divider control (TDC) algorithm was developed for torque sharing between two actuators to provide a large Z-width and improve both transparency and smoothness. The algorithm employs two parameters which were estimated experimentally and extended to entire achievable impedance range by artificial neural network (ANN) and curve fitting techniques. A 1-DOF device having an excitation motor at the user side and brushless DC motor and MR-brake in the haptic side was used in the experiments. The excitation motor is used to generate a white noise torque input to simulate a user for frequency domain transparency tests. Results of the proposed and conventional closed loop impedance control (CLIC) algorithms were compared. The proposed algorithm improves the transparency of MR-brake by eliminating its drawbacks and presents a larger Z-width than the active actuator alone.

关键词： Actuators Torque Haptic interfaces Impedance Stability analysis Artificial neural networks Friction

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Towards improving mission execution for autonomous gliders with an ocean model and kalman filter

Towards improving mission execution for autonomous gliders w...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ryan N. Smith Jonathan Kelly Gaurav S. Sukhatme School of Engineering Systems Queensland University of Technology Brisbane QLD Australia Robust Robotics Group Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA USA

Effective execution of a planned path by an underwater vehicle is important for proper analysis of the gathered science data, as well as to ensure the safety of the vehicle during the mission. Here, we propose the use of an unscented Kalman filter to aid in determining how the planned mission is executed. Given a set of waypoints that define a planned path and a dicretization of the ocean currents from a regional ocean model, we present an approach to determine the time interval at which the glider should surface to maintain a prescribed tracking error, while also limiting its time on the ocean surface. We assume practical mission parameters provided from previous field trials for the problem set up, and provide the simulated results of the Kalman filter mission planning approach. The results are initially compared to data from prior field experiments in which an autonomous glider executed the same path without pre-planning. Then, the results are validated through field trials with multiple autonomous gliders implementing different surfacing intervals simultaneously while following the same path.

关键词： Navigation Vehicles Sea surface Trajectory Kalman filters Uncertainty

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Landmark-Tree map: A biologically inspired topological map for long-distance robot navigation

Landmark-Tree map: A biologically inspired topological map f...

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IEEE International Conference on robotics and Biomimetics

作者： Marcus Augustine Frank Ortmeier Elmar Mair Darius Burschka Annett Stelzer Michael Suppa Otto-von-Guericke University Workgroup Computer Systems in Engineering Magdeburg Germany Department of Computer Science Technische Universität München (TUM) Garching bei München Germany German Aerospace Center (DLR) Institute of Robotics & Mechatronics Wessling Germany

Metric maps provide a reliable basis for mobile robot navigation. However, such maps are in general quite resource expensive and do not scale very well. Aiming for a highly scalable map, we adopt theories of insect navigation to develop an algorithm which builds a topological map for global navigation. Similar to insect conduct, positions in space are memorized as snapshots, which are unique configurations of landmarks. Unlike conventional snapshot approaches, we do not simply store the landmarks as a set, but we build a landmark tree which enables us to easily free memory in case of a continuously growing map while still preserving the dominant information. The resulting navigation is not sensor specific and solely relies on the directions of arbitrary landmarks. The generated map enables a mobile robot to navigate between defined locations and let it retrace a previously pursued path. Finally, we verify the reliability of the Landmark-Tree Map (LT-Map) concept and its robustness on memory limitations.

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Cortex Inspired Model for Inverse Kinematics Computation for a Humanoid Robotic Finger

Cortex Inspired Model for Inverse Kinematics Computation for...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Rodolphe J. Gentili Hyuk Oh Javier Molina James A. Reggia José L. Contreras- Vidal Department of Kinesiology School of Public Health Maryland Robotics Center Neuroscience and Cognitive Science Program University of Maryland College Park MD 20742 USA Neuroscience and Cognitive Science Program University of Maryland College Park MD 20742 USA Department of Systems Engineering and Automation Technical University of Cartagena 30202 Cartagena Spain Department of Computer Science University of Maryland Institute for Advanced Computer Studies University of Maryland College Park MD 20742 USA Department of Electrical and Computer Engineering University of Houston Houston TX 77004 USA

ISBN: (纸本)9781424441198

In order to approach human hand performance levels, artificial anthropomorphic hands/fingers have increasingly incorporated human biomechanical features. However, the performance of finger reaching movements to visual targets involving the complex kinematics of multijointed, anthropomorphic actuators is a difficult problem. This is because the relationship between sensory and motor coordinates is highly nonlinear, and also often includes mechanical coupling of the two last joints. Recently, we developed a cortical model that learns the inverse kinematics of a simulated anthropomorphic finger. Here, we expand this previous work by assessing if this cortical model is able to learn the inverse kinematics for an actual anthropomorphic humanoid finger having its two last joints coupled and controlled by pneumatic muscles. The findings revealed that single 3D reaching movements, as well as more complex patterns of motion of the humanoid finger, were accurately and robustly performed by this cortical model while producing kinematics comparable to those of humans. This work contributes to the development of a bioinspired controller providing adaptive, robust and flexible control of dexterous robotic and prosthetic hands.

关键词： reaching prosthetic providing

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Neurofeedback for the treatment of schizophrenia: Case study

Neurofeedback for the treatment of schizophrenia: Case study

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IEEE International Symposium on Virtual Environments, Human-computer Interfaces and Measurement Systems (VECIMS)

作者： Wenya Nan Lanshin Chang Joao Pedro Rodrigues Feng Wan Peng Un Mak Pui-In Mak Mang I Vai Agostinho Rosa Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Macao China Department of Psychology Faculty of Social Sciences and Humanities University of Macau Macao China LaSEEB-System and Robotics Institute Department of Bioengineering Instituto Superior Tecnico Technical University of Lisbon Portugal

The paper presents a case report of the therapy by neurofeedback training of a chronic female schizophrenia outpatient. The purpose of the neurofeedback training was to enhance cognition, memory and behavioral performance. We used an intensive approach. All the training sessions were performed during 4 consecutive days. The results showed that the patient learnt to increase individual alpha amplitude and simultaneously decrease beta2 (20-30 Hz) amplitude at P4 site during active state over sessions. The individual alpha increased 74.73% and beta2 decreased 13.73%. The short term memory was enhanced after training. Her mood had positive change and her speech was much clearer than before. She started to associate the meaning of her life and illness. These results support that neurofeedback is not only a feasible therapy for schizophrenia but also positive results could be obtained using a much more intensive training sessions than the one reported in the literature.

关键词： Training Neurofeedback Electroencephalography Mood Biological control systems Cognition

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