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Telemanipulation with force-based display of proximity fields

Telemanipulation with force-based display of proximity field...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： S. E. Navarro F. Heger F. Putze T. Beyl T. Schultz B. Hein Institute for Anthropomatics and Robotics (IAR)-Intelligent Process Control and Robotics Lab (IPR) Karlsruhe Institute of Technology (KIT) Germany Institute for Anthropomatics and Robotics (IAR)-Cognitive Systems Lab (CSL) Karlsruhe Institute of Technology (KIT) Germany

In this paper we show and evaluate the design of a novel telemanipulation system that maps proximity values, acquired inside of a gripper, to forces a user can feel through a haptic input device. The command console is complemented by input-devices that give the user an intuitive control over parameters relevant to the system. Furthermore, proximity sensors enable the autonomous alignment/centering of the gripper to objects in user-selected DoFs with the potential of aiding the user and lowering the workload. We evaluate our approach in a user study that shows that the telemanipulation system benefits from the supplementary proximity information and that the workload can indeed be reduced when the system operates with partial autonomy.

关键词： Grippers Robot sensing systems Haptic interfaces Cameras Yttrium

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Knowledge-Based Workspace Optimization of a Redundant Robot for Minimally Invasive Robotic Surgery (MIRS)

Knowledge-Based Workspace Optimization of a Redundant Robot ...

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IEEE International Conference on robotics and Biomimetics

作者： Jessica Hutzl Andreas Bihlmaier Martin Wagner Hannes G?tz Kenngott Beat Peter Müller Heinz W?rn Department of Informatics Institute for Anthropomatics and Robotics (IAR) - Intelligent Process Control and Robotics Lab (IPR) Karlsruhe Institute of Technology 76131 Karlsruhe Germany Department of General Visceral and Transplantation Surgery University of Heidelberg 69120 Heidelberg Germany

ISBN: (纸本)9781467396769

This work examines the problem of a redundant robot's limited workspace in the field of minimally invasive surgery. The proposed procedure to overcome difficulties with joint angle restrictions and finding suitable pivot points works as follows. At first, the target region during a operation has to be defined. An algorithm structures the information of tracked and annotated operations. Each phase of the operation is regarded separately. The result, a grid mesh, is used to test the robot performance with the restriction of the pivot point. The knowledge base contains the structured information about the target region of a phase. Different criteria are defined and evaluated to find the optimal parameter set and a pivot point. Reachability and keeping the pivot restriction are represented in these criteria. The parameter set exists because of the redundancy. Thus, an objective function is proposed to bring the different evaluation criteria together with regard to different possible parameter sets. Given these parameter sets the workspace of the robot is optimized concerning the target region of the operation.

关键词： examines problem redundant

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Motion control and fall prevention for an activewalker mobility aid

Motion control and fall prevention for an activewalker mobil...

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作者： Irgenfried, S. Wörn, H. Karlsruhe Institute of Technology KIT Institute of Process Control Automation and Robotics IPR Germany

ISBN: (纸本)9789400774841

In this paper we present concept, prototype and first experimental results of a force/ torque-sensor based motion control and fall prevention system for an active walker mobility aid to support walking and the sit to stand transfer. For detection of the user intention and for characterization of possible fall situations a 6Dforce/ torque sensor is used in combination together with a real-time SIMULINK® signal pre-and postprocessing. To improve situation awareness of the signal processing, a mathematical model of the human body is used in the background. Finally we present first experimental results acquired with a passive type rollator using our lab test course. © Springer Science+Business Media Dordrecht 2014.

关键词： Motion control

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Optical coherence tomography as highly accurate optical tracking system

Optical coherence tomography as highly accurate optical trac...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yaokun Zhang Heinz Wörn Institute for Anthropomatics and Robotics (IAR)-Intelligent Process Control and Robotics (IPR) Karlsruhe Institute of Technology Germany

ISBN: (纸本)9781479957378

Optical coherence tomography (OCT) guided laser cochleostomy enables the ablation accuracy on tens of micrometer scale and therefore also requires a high patient tracking accuracy on the same order of magnitude, which however exceeds the ability of the conventional optical or electromagnetic tracking systems. We have developed a novel approach of using OCT itself as a highly accurate optical tracking system by ablating tiny artificial landmarks surrounding the cochleostomy on the target bone surface and locating them in the online acquired 3D OCT Volumes. The mechanism enables a direct tracking of the target area with respect to the laser optics while the conventional systems rely on indirect tracking of the markers or sensors attached to the regions of interest. The new approach has achieved an overall tracking accuracy of 22.8±14.9μm (mean absolute error) and 27.2μm (root mean square), which is one order of magnitude higher than the conventional tracking system-based setups.

关键词： Target tracking Accuracy Laser ablation Adaptive optics Three-dimensional displays

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Evaluation of a method for intuitive telemanipulation based on view-dependent mapping and inhibition of movements

Evaluation of a method for intuitive telemanipulation based ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Simon Notheis Björn Hein Heinz Wörn Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany

In this paper we present a novel approach for intuitive telemanipulation in Cartesian space and discuss the results of a user study evaluating different aspects of our approach. The proposed method inhibits certain degrees of freedom based on the current viewpoint. Together with automatic mapping of the input device to corresponding motion axes, our approach provides a very intuitive method for controlling the telemanipulation system while reducing the mental workload of the operator and therefore the amount of erroneous commands. Similar principles apply for controlling the viewpoint of real or virtual cameras to facilitate manipulation or navigation tasks.

关键词： Cameras Manipulators Robot vision systems Robot kinematics Service robots

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6D proximity servoing for preshaping and haptic exploration using capacitive tactile proximity sensors

6D proximity servoing for preshaping and haptic exploration ...

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2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Stefan Escaida Navarro Martin Schonert Björn Hein Heinz Wörn Intelligent Process Control and Robotics Lab (IPR) Karlsruhe Institute of Technology (KIT) Germany

In this paper we present applications for a robot system whose gripper is equipped with distributed capacitive tactile proximity sensors (CTPS). Firstly, we introduce and evaluate a closed loop control scheme by which it is possible to align the gripper to objects or features of the environment using proximity values alone. We call this control method proximity servoing. It is implemented by equilibrating the sensor signals, resulting in a robust preshape in all 6DOF of the object pose. Objects can then be grasped with virtually no displacement. Secondly, also based on proximity servoing, we demonstrate and evaluate novel ideas for combined haptic and proximity-based exploration. Without any cues from an external camera the system is capable of detecting and exploring features such as curvatures, edges or corners of objects. It is also shown that tactile and proximity exploration steps can be used complementarily to increase efficiency in exploration while delivering accurate object measurements.

关键词： Grippers Robot sensing systems Optical sensors Capacitive sensors Haptic interfaces

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An OWL Ontology for Local Situation Awareness based on Object Hierarchy Propagation

An OWL Ontology for Local Situation Awareness based on Objec...

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ISR/Robotik 2014;41st International Symposium on robotics

作者： Frank Dittrich Heinz Woern Karlsruher Institute of Technology (KIT) Institute for Process Control and Robotics (IPR) Karlsruher Institute of Technology (KIT)

In our paper we present a generic modeling and inference scheme for spatially resolved reasoning about situations, activities and states of distributed objects in a 3D scene, using an ontology based on the Web Ontology Language. As a basis for classification and local object related inference, assertions about the object and assigned activities are used. In addition, our approach exploits context driven object hierarchy knowledge, where local and object dependent situational information is used for inference on higher object hierarchy levels. This propagation scheme enriches and augments the local deductive reasoning and allows for the injection of asserted activity knowledge for only a subset of the scene objects, while local reasoning can still be performed on higher levels under contextual assumptions. For the motivation and illustration of the applicability and usefulness of our approach, we apply it to human-robot interaction and collaboration scenarios in the industrial domain. A synthetic representation of a shared workspace serves thereby as the basis for the modeling of local object contexts for situational reasoning.

关键词： Web ontology languages Ontology Social Hierarchy Local Reasoning Human machine interaction knowledge representation languages

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Plausibility verification for situation awareness in safe human-robot cooperation

Plausibility verification for situation awareness in safe hu...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Stephan Puls Heinz Wörn Karlsruhe Institute of Technology (KIT) Intelligent Process Control and Robotics Lab (IPR) Karlsruhe Germany

ISBN: (纸本)9781479967667

Achieving seamless human-robot cooperation requires the robot to recognize its surroundings and be aware of human actions and their implications. Still, no recognition method, e.g., for objects or actions, can achieve zero failure rates. Thus, robotic actions might be selected and planned based on false assumptions. This inherits risks for humans and machinery. Consequently, the verification of plausibility of recognition results considered in context can extract inconsistencies and regulate robotic behavior due to adapted risk assessment. In this paper, an approach for plausibility verification in a situation awareness system and corresponding risk estimation adaptation is presented and examined.

关键词： Estimation Cognition Robot sensing systems Unified modeling language Kinematics Service robots

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Uncertainty estimation for kinematic laser tracker measurements incorporating the control information of an industrial robot

Uncertainty estimation for kinematic laser tracker measureme...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Thomas Ulrich Stephan Irgenfried Geodetic Institute (GIK) Karlsruhe Institute of Technology (KIT) Germany Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology (KIT) Germany

Laser trackers are widely used in the field of industrial metrology to measure kinematic tasks such as tracking robot movements. In order to assess spatiotemporal deviations of a robots movement it is crucial to have a reliable uncertainty of the kinematic measurements. Common methods to evaluate the uncertainty in kinematic measurements include approximations specified by the manufactures, various analytical adjustment methods and Kalman filters. In this paper a new, real-time approach is proposed, which estimates the 4D-path (3D-position + time) uncertainty of an arbitrary path in space by incorporating the control information of an industrial robot. The proposed approach relies on Bayesian filtering and avoids the need for predefined motion models due to the incorporation of the robots control information into the analysis method. Furthermore, a common laser tracker model is augmented with kinematic properties in order to be utilized as a self-regulating measurement model, within the Bayesian filter. The new approach is demonstrated by using data obtained by tracking the tool centre point of a KR 5 ARC industrial robot with a synchronized Leica laser tracker AT901. It shows that the proposed approach is more appropriate to analysing kinematic processes, as it avoids all problems arising from predefined motion models in Bayesian filters for tracking. In comparison with the manufacturers approximations, the new approach takes account of kinematic behaviour, with an improved description of the real measurement process and a reduction in estimated variance. This approach is therefore well-suited to the analysis of robot movements.

关键词： Kinematics Tracking Robot kinematics Uncertainty Service robots Measurement uncertainty

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Fast on-board motion planning for modular robots

Fast on-board motion planning for modular robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： Vojtech Vonäsek Lutz Winkler Jens Liedke Martin Saska Kareł Kosnar Libor Preucil Ceske Vysoke Uceni Technicke v Praze Praha CZ Institute for Process Control and Robotics (IPR) Engler-Bunte-Ring 8 D-76131 Karlsruhe Germany

Modular robots, which are systems made of many robotic modules, can utilize various types of locomotion. Different approaches can be used to generate these basic motion skills - motion primitives. To move in a complex environment, several motion primitives are needed and a mechanism to switch them is required. This can be realized using a high-level motion planning. To enable autonomous operation of modular robots equipped with limited computational resources, it is necessary to generate the motion plans on-board, i.e., without external computers. In this paper, we propose a novel simplified motion model of a modular robot, which allows the robot to employ the motion planner as a fast on-board replanner. The proposed approach has been verified both in simulations as well as with real robots.

关键词： Planning Navigation Trajectory Mobile robots Joints Computational modeling

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