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International Conference on Advanced robotics (ICAR)

作者： Justus Drögemüller Carlos X. Garcia Elena Gambaro Michael Suppa Jochen Steil Máximo A. Roa Technical University of Braunschweig Institute of Robotics and Process Control Technical University of Munich (TUM) Chair of Robotics Artificial Intelligence and Real-time Systems Roboception GmbH German Aerospace Center (DLR)

ISBN: (纸本)9781665436854

This paper proposes a novel approach to automatically generate labeled training data for predicting parallel-jaw grasps from stereo-matched depth images. We generate realistic depth images using Semi-Global Matching to compute disparity maps from synthetic data, which allows producing images that mimic the typical artifacts from real stereo matching in our data, thus reducing the gap from simulation to real execution. Our pipeline automatically generates grasp annotations for single or multiple objects on the synthetically rendered scenes, avoiding any manual image pre-processing steps such as inpainting or denoising. The labeled data is then used to train a CNN-model that predicts parallel-jaw grasps, even in scenarios with large amount of unknown depth values. We further show that scene properties such as the presence of obstacles (a bin, for instance) can be added to our pipeline, and the training process results in grasp prediction success rates of up to 90%.

关键词： Training Annotations Computational modeling Pipelines Noise reduction Training data Manuals

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Teleoperation with Tactile Feedback based on a Capacitive Proximity Sensor Array

Teleoperation with Tactile Feedback based on a Capacitive Pr...

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IEEE Instrumentation and Measurement Technology Conference

作者： Hosam Alagi Stefan Escaida Navarro Jan Hergenhan Selma Musić Björn Hein Institute for Anthropomatics and Robotics - Intelligent Process Control and Robotics Lab (IAR-IPR) Karlsruhe Institute of Technology Defrost at Inria Lille-Nord Europe IAR-IPR Chair of Information-oriented Control Technical University of Munich Munich Germany

ISBN: (数字)9781728144603

ISBN: (纸本)9781728144610

In this paper, we show our novel teleoperation system that mediates proximity perception at the slave system as tactile information to the user. We have equipped a robot's end-effector with a capacitive proximity sensor array. Based on the proximity information, tactile feedback is generated for the user via a tactile display. Thus, the user can feel some of an object's features through his fingers, without the need for establishing contact between the slave system and the object. In our setting, the proximity sensing-based feedback complements the visual feedback provided by a workspace camera and a robot tool camera. Both the sensor array and the tactile display, have a spatial resolution of 4×4. To evaluate the impact, we conducted a user study covering scenarios with visual occlusion and distortion in pre-touch and pre-manipulation phases. The study revealed an improvement in the accuracy of positioning of the end-effector when the visual and the tactile feedback were both provided to the user. The study also showed high acceptance of the new modality by the users.

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Modeling and control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics During Grasping

Modeling and Control of Multi-Arm and Multi-Leg Robots: Comp...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Niels Dehio Joshua Smith Dennis Leroy Wigand Guiyang Xin Hsiu-Chin Lin Jochen J. Steil Michael Mistry Research Institute for Robotics and Process Control (IRP) Technical University Braunschweig Germany School of Informatics University of Edinburgh United Kingdom Faculty of Technology Bielefeld University Germany School of Mechanical and Electrical Engineering Central South University China

We consider a virtual manipulator in grasping scenarios which allows us to capture the effect of the object dynamics. This modeling approach turns a multi-arm robot into an underactuated system. We observe that controlling floating-base multi-leg robots is fundamentally similar. The Projected Inverse Dynamics control approach is employed for decoupling contact consistent motion generation and controlling contact wrenches. The proposed framework for underactuated robots has been evaluated on an enormous robot hand composed of four KUKA LWR IV+ representing fingers cooperatively manipulating a 9kg box with total 28 actuated DOF and six virtual DOF representing the object as additional free-floating robot link. Finally, we validate the same approach on ANYmal, a floating-base quadruped with 12 actuated DOF. Experiments are performed both in simulation and real world.

关键词： Grasping Dynamics Task analysis Jacobian matrices Manipulator dynamics

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A Projected inverse dynamics approach for dual-arm cartesian impedance control

arXiv

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arXiv 2017年

作者： Lin, Hsiu-Chin Smith, Joshua Babarahmati, Keyhan Kouhkiloui Dehio, Niels Mistry, Michael School of Informatics University of Edinburgh United Kingdom School of Computer Science University of Birmingham United Kingdom Research Institute for Robotics and Process Control Technical University Braunschweig Germany

We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component of the controller to enforce contact and the unconstrained controller to accomplish the task with a desired 6-DOF impedance behaviour. Furthermore, the proposed method optimises the torque required to maintain contact, subject to unknown disturbances, and can do so without direct measurement of external force. The techniques are evaluated on a single-arm wiping a table and a dual-arm platform manipulating a rigid object of unknown mass and with human interaction. [1]. Copyright © 2017, The Authors. All rights reserved.

关键词： controllers

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Incremental bootstrapping of parameterized motor skills

Incremental bootstrapping of parameterized motor skills

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeffrey Frederic Queißer René Felix Reinhart Jochen Jakob Steil Universitat Bielefeld Bielefeld Nordrhein-Westfalen DE Fraunhofer IEM Research Institution for Mechatronic Systems Design Paderborn Germany Institute for Robotics and Process Control Technical University Braunschweig Braunschweig Germany Research Institute for Cognition and Robotics (CoR-Lab) Bielefeld University Bielefeld Germany

Many motor skills have an intrinsic, low-dimensional parameterization, e.g. reaching through a grid to different targets. Repeated policy search for new parameterizations of such a skill is inefficient, because the structure of the skill variability is not exploited. This issue has been previously addressed by learning mappings from task parameters to policy parameters. In this work, we introduce a bootstrapping technique that establishes such parameterized skills incrementally. The approach combines iterative learning with state-of-the-art black-box policy optimization. We investigate the benefits of incrementally learning parameterized skills for efficient policy retrieval and show that the number of required rollouts can be significantly reduced when optimizing policies for novel tasks. The approach is demonstrated for several parameterized motor tasks including upper-body reaching motion generation for the humanoid robot COMAN.

关键词： Optimization Trajectory Training Learning (artificial intelligence) End effectors Humanoid robots

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Continuous task-priority rearrangement during motion execution with a mixture of torque controllers

Continuous task-priority rearrangement during motion executi...

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IEEE-RAS International Conference on Humanoid Robots

作者： Niels Dehio René Felix Reinhart Jochen J. Steil Technische Universitat Braunschweig Braunschweig Niedersachsen DE Fraunhofer IEM Research Institution for Mechatronic Systems Design Paderborn Germany Research Institute for Robotics and Process Control (IPR) Technical University Braunschweig Germany

ISBN: (纸本)9781509047192

When controlling highly redundant humanoid robots multiple motion tasks can be accomplished simultaneously by employing several reactive torque-control modules. Flexible task-prioritization for these modules during motion generation is an open research problem. Null-space based approaches for redundant robots implement a strict, hierarchical prioritization and are not suited for changing the priority-order of the underlying control modules. In contrast, the mixture of controller approach superposes torques from several control modules and thereby enables flexible and continuous task-priority rearrangement. Here we show how to react to environmental changes by blending the corresponding priorities during motion execution. Additionally, we investigate the advantage of regularization when learning new mixture coefficients. The proposed framework is demonstrated for the full 11 DOF upper body of the compliant humanoid robot COMAN in simulation.

关键词： Aerospace electronics Robot sensing systems Optimization Humanoid robots Jacobian matrices Trajectory

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Failure recovery for modular robot movements without reassembling modules

Failure recovery for modular robot movements without reassem...

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International Workshop on Robot Motion and control (RoMoCo)

作者： Vojtěch Vonásek David Oertel Sergej Neumann Heinz Wörn Dept. of Cybernetics Czech Technical University in Prague Czech Republic Institute for Process Control and Robotics (IPR) Karlsruhe Germany

Modular robots consist of many mechatronic modules that can be connected into various shapes and therefore adapted for a given task or environment. Motion of the robots can be achieved by locomotion generators that control joints connecting the modules. An important advantage of modular robots is their ability to recover from failures by ejecting and replacing damaged modules. This type of failure recovery may be precluded due to inability of the broken modules to cooperate or when no spare modules are available. In such a case, locomotion of a damaged robot should be adapted to allow the robot to reach a repair station or even to finish its task without the need to exchange the broken modules. In this paper, we investigate how to recover from failures using the concept of motion planning with motion primitives and how to adapt the primitives to new situations. The proposed systems allows modular robots to move even if some modules fail. Besides modular robots, the proposed system is suitable also for other robots that can be driven by locomotion generators such as legged or snake-like robots.

关键词： Joints Cost function Planning Legged locomotion Generators Actuators

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Movement Analysis for Surgical Skill Assessment and Measurement of Ergonomic Conditions

Movement Analysis for Surgical Skill Assessment and Measurem...

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International Conference on Artificial Intelligence, Modelling and Simulation (AIMS)

作者： O. Weede F. Möhrle H. Wörn M. Falkinger H. Feussner Polytechnic of Namibia Windhoek Namibia University of Kaiserslautem Kaiserslautem Germany KIT Institute for Process Control and Robotics Karlsruhe Germany MITI research group Technical University Munich Munich Germany

A measurement for ergonomic conditions is derived from motion analysis of surgical instruments. Several features for surgical skill assessment are examined and an overall grading system for surgical skill assessment and evaluation of ergonomic conditions based on the movement of the instruments' tool tips is presented. The grading system is applied to different ergonomic conditions provided by different types of displays, including three 3D displays. The features examined for skill evaluation include a movement alphabet derived from recorded trajectories by the k-Means algorithm. The system is trained with expert knowledge about the expertise of surgeons. The findings show that surgeons working under better ergonomic conditions perform less movements during an intervention. The time in which they move the instruments to complete the intervention is less. There is less depth oscillation with the tool-tips. The variety of different types of movements is less. The path length of the tool tips is shorter. There are less unnecessary movements. Results of a qualitative study show that measurements for skill evaluation can be applied for measuring ergonomic conditions.

关键词： Ergonomics Instruments Surgery Trajectory Three-dimensional displays Oscillators Tracking

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Planning sensor feedback for assembly skills by using sensor state space graphs

Planning sensor feedback for assembly skills by using sensor...

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Thomas, U. Wahl, F.M. Institute of Robotics and Mechatronics DLR Muenchner Strasse 20 82234 Wessling Germany Institute for Robotics and Process Control Technical University of Braunschweig Germany

ISBN: (纸本)9783642335143

In this paper, it is shown how robust execution of assembly skills can be planned by using sensor state space graphs. The here proposed method is evaluated by some assembly skills in which force feedback is applied. Assembly skills are implemented by manipulation primitive nets which constitute an interface between planning and execution of robotic systems. The sensor state space graph is introduced, which is an extension of the contact formation graph in a more general way, when various sensors might be used simultaneously for assembly execution. It is shown, how contact formation graphs can be generated by simulation of rigid body motions. The known contact formation graphs are enhanced by the definition of contact types between higher order surfaces. Additionally, a more general view is given by introducing sensor state space graphs. It is shown how contact formation graphs can be mapped to manipulation primitive nets, which allow the robust execution of assembly skills, despite the appearance of uncertainties. The approach is demonstrated successfully on some assembly tasks. Here the task of plugging a power socket on a top hat rail is illustrated due to its complex sequence. The shown assembly task is characterized by small fitting tolerances, where the application of force feedback is indispensable. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Feedback

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Workflow Analysis and Surgical Phase Recognition in Minimally Invasive Surgery

Workflow Analysis and Surgical Phase Recognition in Minimall...

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IEEE International Conference on robotics and Biomimetics

作者： Oliver Weede Frank Dittrich Heinz W?rn Brian Jensen Alois Knoll Dirk Wilhelm Michael Kranzfelder Armin Schneider Hubertus Feussner Institute for Process Control and Robotics Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Robotics and Embedded Systems Minimally invasive Interdisciplinary Therapeutical Intervention (MITI) Technical University München (TUM) München Germany

ISBN: (数字)9781467321273

ISBN: (纸本)9781467321259

In this paper, a new approach is described to recognize the phases of a single-port sigma resection intraoperatively, based on the position signal of the surgical instruments, the endoscopic video and an audio signal, signaling coagulations. Approaches for detecting the coagulation sounds, as well as the instruments visible in the endoscopic video using a bag of words model are detailed. The intervention phases are regarded as classes of a naive Bayes classifier. Features that differentiate intervention phases are examined. The naive Bayes classifier is extended by a dynamic feature, which includes the order of the intervention phases and their duration. First results show that in 93.2% the recognized phases are classified as true positive.

关键词： Cognitive medical technology workflow analysis high-level task recognition trajectory segmentation object recognition sound recognition

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