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Methods for Safe Human-Robot-Interaction Using Capacitive Tactile Proximity Sensors

Methods for Safe Human-Robot-Interaction Using Capacitive Ta...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Stefan Escaida Navarro Maximiliano Marufo Yitao Ding Stephan Puls Dirk Goger Bjorn Hein Heinz Worn Institute for Process Control and Robotics Karlsruhe Institute of Technology Germany.

ISBN: (纸本)9781467363563

In this paper we base upon capacitive tactile proximity sensor modules developed in a previous work to demonstrate applications for safe human-robot-interaction. Arranged as a matrix, the modules can be used to model events in the near proximity of the robot surface, closing the near field perception gap in robotics. The central application investigated here is object tracking. Several results are shown: the tracking of two human hands as well as the handling of occlusions and the prediction of collision for object trajectories. These results are important for novel pretouch- and touch-based human-robot interaction strategies and for assessing and implementing safety capabilities with these sensor systems.

关键词： previous work demonstrate applications near proximity Proximity sensors Sensor systems capacitance Touch Safes Collisions

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Knowledge-based planning of port positions for minimally invasive surgery

Knowledge-based planning of port positions for minimally inv...

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IEEE Conference on Cybernetics and Intelligent Systems

作者： O. Weede J. Wünscher H. Kenngott B-P. Müller-Stich H. Wörn Institute for Process Control and Robotics Karlsruhe Institute of Technology (KIT) Germany

The success of a minimally invasive intervention strongly depends on the position of the incision in the abdominal wall for inserting the instruments and the endoscopic camera. A new knowledge-based system for planning these ports is presented. First time, the positioning of the surgeon and the camera assistant in respect to the patient is included. Modeling of the patient, the intervention and the optimization criteria are described. The intervention model is inferred from recorded trajectories of the surgical instruments. As an example application rectal resection is chosen. The optimization is performed with the Seed Throwing Optimization meta-heuristic. A new set of criteria for optimal setup configuration is presented, including ergonomic working directions, collision avoidance and reachability of target areas. The combination of these criteria using a t-norm is described. The optimized port positions are projected on the patient's abdomen with an augmented reality system. The time needed for the planning algorithm was measured and is sufficient. The results show that the computed configuration leads to maximum access in the operation field in the narrow pelvis, maximum separation dexterity for the surgeon and the camera assistant and allows an ergonomic completion of the intervention.

关键词： Ports (Computers) Instruments Surgery Optimization Cameras Planning Ergonomics

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An alternative locomotion unit for mobile modular self-reconfigurable robots based on archimedes screws

An alternative locomotion unit for mobile modular self-recon...

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International Symposium on Mechatronics and Its Applications, ISMA

作者： Jens Liedke Lutz Winkler Heinz Wörn Karlsruhe Institute of Technology Institute for Process Control and Robotics Karlsruhe Germany

ISBN: (纸本)9781467350143

In this paper, we introduce a new locomotion unit for mobile modular self-reconfigurable robots. The design is based on Archimedes screws and allows a robot to utilize its full potential. With this newly designed drive unit called screw drive, a robot is able to drive in almost every direction while still using a simple, easy to control setup which requires very little space. Next to a general design description, we introduce the locomotion model for the screw drive used in simulation as well as in locomotion control of the robot. Additionally, we show several experiments to confirm the versatility of the screw drive.

关键词： Fasteners Organisms Robot sensing systems Mobile robots Robot kinematics Force

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The Collective Self-reconfigurable Modular Organism (CoSMO)

The Collective Self-reconfigurable Modular Organism (CoSMO)

引用

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

作者： Jens Liedke Rene Matthias Lutz Winkler Heinz Wörn Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

In this paper we will present the CoSMO platform, a new mobile modular self-reconfigurable robot (MSR) platform which we developed within the two European projects REPLICATOR and SYMBRION. Compared to other MSR platforms, this platform possesses huge computational capabilities and it exhibits a large communication bandwidth between connected modules. Furthermore, its modules have the ability to share energy among each other and locomote in every main direction by their own. Due to the mechanical design, different organism topologies and motion behaviors enable CoSMO to be flexible to different tasks and to adapt to unforeseen changes in the environment. Nevertheless, the size and the mass of the robot modules are still comparable to other platforms. In this paper, we will give an overview of the architecture of the CoSMO platform, which is in its final stage of development. In particular, we will describe the mechanical, the electronic and the software design. We will present first tests with the prototype of the robot and will show the potential functionality of the platform in simulation.

关键词： Fasteners Organisms Bandwidth Robot sensing systems Robustness Mobile robots

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Towards building a miniaturized shape sensor: Building process of a shape sensor for use in single port surgery

Towards building a miniaturized shape sensor: Building proce...

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International Conference on Sensing Technology, ICST

作者： Hendrikje Pauer Christoph Ledermann Oliver Weede Heinz Woern Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

3D shape sensing of flexible snakelike instruments using fiber Bragg gratings is a current research topic in robot assisted single port surgery (SPS). Though some results are achieved, a practical implementation that can be applied for instruments in SPS has not yet been particularly described. The specific instruments have special technical properties as e.g. they allow very small bending radii. In this work, approaches for the building process of a shape sensor that meets the special technical requirements of these instruments are pursued and evaluated. The theoretical foundations and calculation methods are adapted to the built shape sensor. The overall goal is to develop a building process for a miniaturized shape sensor that can be integrated into medical instruments. A first macro sized shape sensor has been successfully produced, but the miniaturization causes serious difficulties. In this work experiences with the fiber handling and occurring problems in production are described in detail. In summary, the realization of a shape sensor has already proven to be technically feasible but for miniaturization, further research concerning the used materials and the practical fiber handling is necessary.

关键词： Shape Optical fiber sensors Robot sensing systems Instruments Fiber gratings Strain

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Partial view geometric reconstruction of objects with rotational and planar symmetries for grasping tasks

Partial view geometric reconstruction of objects with rotati...

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International Conference on Advanced robotics (ICAR)

作者： Stefan Escaida Navarro Johannes Gräter Hendrikje Pauer Björn Hein Heinz Wörn Institute for Process Control And Robotics Karlsruhe Institute of Technology Karlsruhe Germany

In this paper we present a method based on two steps for reconstruction rotational and planar symmetric objects from a single partial view for grasping tasks. In the first step the orientation of the object is determined and in the second step the symmetry axis position is found. Then shape parameters are recovered and the completed geometry is used to plan and execute grasps. We leverage the symmetry information from the reconstruction to plan grasps effectively, resulting in high ratio of good grasps vs. tested grasps. We evaluate our methods on a robot platform that can reliably perform the grasps. Also, a shape characterization is provided for which the first step of the method (finding an object's orientation) will work, giving a starting point for more general shape reconstruction methods.

关键词： Shape Grasping Optimization Robots Convergence Noise measurement Linear programming

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Tactile proximity sensors for robotic applications

Tactile proximity sensors for robotic applications

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IEEE International Conference on Industrial Technology

作者： Dirk Goger Hosam Alagi Heinz Worn Institute for Process Control Automation and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9781467345675

In this paper tactile proximity sensors for close human-robot interactions based on a previously developed sensor are introduced. Using the same sensing technology, we developed large area tactile proximity sensors as a robot skin and small sensors which we have integrated in an anthropomorphic robot hand. Tactile sensing in the area of robotics for close human-interaction is still a challenging task. In the most cases tactile sensors need to be supported by other sensor modalities to perceive the robots environment before contacts occur. To overcome this issue we developed tactile proximity sensors for robot surfaces and for robot grippers. Both sensors, their behaviour and a model of the tactile sensor will be discussed in this paper.

关键词： Proximity sensors Touch tactile sensors robotic gripper Sensors Robot robotics

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The DLR artificial skin step I: Uniting sensitivity and collision tolerance

The DLR artificial skin step I: Uniting sensitivity and coll...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.W. Strohmayr H. Wörn G. Hirzinger Institute of Robotics and Mechatronics DLR German Aerospace Center Germany Institute for Process control and Robotics (IPR) Karlsruhe Institute of Technology Germany

ISBN: (纸本)9781467356404

The integration of artificial skin into robotic systems has long been foreseen. For the last decades the introduction was always just a couple of years away. One of the possible reasons for the slow progress is the focus of the research efforts on high sensitivity and spatial resolution. The resulting tactile sensor prototypes are presented as laboratory prototypes with no or little chance to be successfully integrated into a robotic system. In order to enable the operation of an artificial skin on a robotic system in real-world applications the conflict of goals between high sensitivity and an overload-proof, collision tolerant, design needs to be solved. Within this paper we present a stretchable tactile surface sensor as a major functional component of an artificial skin setup that is able to unite the required sensitivity with the ability to withstand collisions. The results of first experiments regarding sensitivity and the ability of the DLR Artificial Skin setup to withstand high impact forces are presented.

关键词： Skin Polymers Sensitivity Damping Tactile sensors

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Pose estimation based on laser range finder for a quadrotor unmanned aerial vehicle in GPS-denied environment

Pose estimation based on laser range finder for a quadrotor ...

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32nd Chinese control Conference, CCC 2013

作者： Gu, Xun Xian, Bin Guo, Fang Zhang, Yao Zhang, Xu Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control Tianjin University Tianjin 300072 China

ISBN: (纸本)9789881563835

The feedback of position and attitude information are important for the autonomous control of a quadrotor unmanned aerial vehicle (UAV). But in the GPS-denied environments, it is hard to obtain the quadrotor UAV's position. The pose estimation problem for a quadrotor UAV is addressed in this paper. A miniature laser range finder and a miniature attitude heading reference system (AHRS) unit are employed as the main onboard sensors. And a new pose estimation algorithm is developed to provide accurate estimation for the UAV's position and attitude which can be utilized for the flight controller in the GPS-denied environments. © 2013 TCCT, CAA.

关键词： Global positioning system

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Development of a three degree-of-freedom testbed for an unmanned helicopter and attitude control design

Development of a three degree-of-freedom testbed for an unma...

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Chinese control Conference (CCC)

作者： Jianchuan Guo Bin Xian Fu Wang Xu Zhang The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

To provide a safe and efficient test for the autonomous control design of the unmanned helicopter, a 3 degree-of-freedom (DOF) helicopter testbed is developed in this paper. The testbed uses a small electric hobby helicopter as the main body, a digital signal processsor (DSP) is employed as the on-board micro control unit (MCU) for the attitude control of the helicopter, a micro attitude and heading reference system (AHRS) is utilized as the main on-board sensor for attitude states feedback and a Bluetooth module is mounted on the testbed to provide realtime wireless communication between the helicopter and the ground control station (GCS). This paper investigates the servo actuators coordinated control method with separate channel of the new-style electric helicopter, which is named as electronic collective-cyclic pitch mixing (ECCPM). A modified digital incremental PID control algorithm which is free of servo actuators saturation issue is proposed for the attitude control of the helicopter. Finally, experiment results are provided to verify the testbed and control design.

关键词： Helicopters Digital signal processing Attitude control Electronic mail process control Educational institutions control design

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