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检索条件"机构=Intelligent Robotics and Systems Lab"

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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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MINIATURIZED MAGNETIC FORCE SENSOR ON A CATHETER TIP

MINIATURIZED MAGNETIC FORCE SENSOR ON A CATHETER TIP

引用

International Conference on Solid-State Sensors, Actuators and Microsystems

作者： G. Chatzipirpiridis S. Gervasoni F. Berlinger S. Blaz O. Ergeneman S. Pane B. J. Nelson Multi-Scale Robotics Lab Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland RLS merilna tehnika d. o. o. Komenda Slovenia

ISBN: (纸本)9781479989560

This paper reports the smallest magnetic force sensor integrated on a catheter tip. The sensor is capable of high sensitivity and robust force measurements suitable for in-vivo applications. It utilizes a magnet mounted on a flexible membrane encapsulating the catheter and a Hall sensor to detect the magnetic field generated by the magnet. The proposed device can be used in many applications of minimally invasive surgery (MIS) to detect forces applied on tissue during procedures or to characterize different types of tissue for diagnosis.

关键词： Catheter permanent magnet magnetic sensor Hall sensor tissue characterization

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A skill-based system for object perception and manipulation for automating kitting tasks

A skill-based system for object perception and manipulation ...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Dirk Holz Angeliki Topalidou-Kyniazopoulou Francesco Rovida Mikkel Rath Pedersen Volker Krüger Sven Behnke Autonomous Intelligent Systems Group University of Bonn Bonn Germany Robotics Vision and Machine Intelligence (RVMI) Lab Aalborg University Copenhagen Denmark

The automation of kitting tasks-collecting a set of parts for one particular car into a kit-has a huge impact in the automotive industry. It considerably increases the automation levels of tasks typically conducted by human workers. Collecting the parts involves picking up objects from pallets and bins as well as placing them in the respective compartments of the kitting box. In this paper, we present a complete system for automated kitting with a mobile manipulator thereby focusing on depalletizing tasks and placing. In order to allow for low cycle times, we present particularly efficient solutions to object perception as well as motion planning and execution. For easy portability to different platforms, all components are integrated into a skill-based framework that is tightly coupled with a task planning component. We present results of experiments at both a research laboratory environment and at the industrial site of PSA Peugeot Citroën serving as a proof of concept for the overall system design and implementation.

关键词： Robot kinematics Planning Software Service robots Mobile communication Three-dimensional displays

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Understanding the geometry of workspace obstacles in Motion Optimization

Understanding the geometry of workspace obstacles in Motion ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nathan Ratliff Marc Toussaint Stefan Schaal Autonomous Motion Department Max Planck Institute for Intelligent Systems Tübingen Germany Machine Learning and Robotics Lab University of Stuttgart Germany

ISBN: (纸本)9781479969241

What is it that makes movement around obstacles hard? The answer seems clear: obstacles contort the geometry of the workspace and make it difficult to leverage what we consider easy and intuitive straight-line Cartesian geometry. But is Cartesian motion actually easy? It's certainly well-understood and has numerous applications. But beneath the details of linear algebra and pseudoinverses, lies a non-trivial Riemannian metric driving the solution. Cartesian motion is easy only because the pseudoinverse, our powerhouse tool, correctly represents how Euclidean workspace geometry pulls back into the configuration space. In light of that observation, it reasons that motion through a field of obstacles could be just as easy as long as we correctly account for how those obstacles warp the geometry of the space. This paper explores extending our geometric model of the robot beyond the notion of a Cartesian workspace space to fully model and leverage how geometry changes in the presence of obstacles. Intuitively, impenetrable obstacles form topological holes and geodesics curve around them accordingly. We formalize this intuition and develop a general motion optimization framework called Riemannian Motion Optimization (RieMO) to efficiently find motions using our geometric models. Our experiments demonstrate that, for many problems, obstacle avoidance can be much more natural when placed within the right geometric context.

关键词： Geometry Optimization Measurement Approximation methods Trajectory Robots Kinematics

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Neural learning of stable dynamical systems based on extreme learning machine

Neural learning of stable dynamical systems based on extreme...

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International Conference on Information and Automation (ICIA)

作者： Jianbing Hu Zining Yang Zhiyang Wang Xinyu Wu Yongsheng Ou Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Chinese University of Hong Kong China Key Lab of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences

This paper presents a method based on extreme learning machine to learn motions from human demonstrations. We model a motion as an autonomous dynamical system and define sufficient conditions to ensure the global stability at the target. A detailed theoretic analysis is proposed on the constraints regarding to input and output weights which yields a globally stable reproduction of demonstrations. We solve the corresponding optimization problem using nonlinear programming and evaluate it on an available data set and a real robot. Combined with the generalization capacities of extreme learning machine, the results show that the human movement strategies within demonstrations can be generalized well.

关键词： Asymptotic stability Stability analysis Trajectory Robot kinematics Mathematical model Optimization

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Where's waldo at time t ? using spatio-temporal models for mobile robot search

Where's waldo at time t ? using spatio-temporal models for m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Tomáš Krajník Miroslav Kulich Lenka Mudrová Rares Ambrus Tom Duckett Lincoln Centre for Autonomous Systems University of Lincoln Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic Intelligent Robotics Lab University of Birmingham UK KTH Royal Institute of Technology Sweden

ISBN: (纸本)9781479969241

We present a novel approach to mobile robot search for non-stationary objects in partially known environments. We formulate the search as a path planning problem in an environment where the probability of object occurrences at particular locations is a function of time. We propose to explicitly model the dynamics of the object occurrences by their frequency spectra. Using this spectral model, our path planning algorithm can construct plans that reflect the likelihoods of object locations at the time the search is performed. Three datasets collected over several months containing person and object occurrences in residential and office environments were chosen to evaluate the approach. Several types of spatio-temporal models were created for each of these datasets and the efficiency of the search method was assessed by measuring the time it took to locate a particular object. The results indicate that modeling the dynamics of object occurrences reduces the search time by 25% to 65% compared to maps that neglect these dynamics.

关键词： Search problems Mobile robots Testing Robot sensing systems Training

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Robust control strategies of stick-slip type actuators for fast and accurate nanopositioning operations in scanning mode

Robust control strategies of stick-slip type actuators for f...

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Mediterranean Conference on Control and Automation (MED)

作者： Raouia Oubellil Alina Voda Mokrane Boudaoud Stéphane Régnier Control Systems Department Grenoble INP Grenoble France Saint-Martin d'Hères GIPSA-lab Grenoble France Institute of Intelligent System and Robotics University of Pierre and Marie Curie Paris France

ISBN: (纸本)9781479999378

This paper deals with robust closed-loop control of a nano-robotic system dedicated to fast scanning probe microscopy. The nano-robotic system is actuated by piezoelectric stick-slip actuators able to produce a millimeter range displacement with a nanometer resolution. In order to meet the requirements of fast scanning in terms of closed-loop bandwidth and vibration damping, robust control strategies are studied. We first show that a commonly used one degree of freedom (1-DOF) H ∞ controller is limited to satisfy robust performances required for fast and accurate positioning of the actuators. As such, the control strategy is defined considering two closed-loops. Results show that the 2-DOF H ∞ control scheme allows robust performances for the positioning of nanorobotic systems and lead to new perspectives for fast scanning probe microscopy using stick-slip actuators.

关键词： Hysteresis Bandwidth Vibrations Piezoelectric actuators Robustness Approximation methods

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Using parallel stiffness to achieve improved locomotive efficiency with the Sandia STEPPR robot

Using parallel stiffness to achieve improved locomotive effi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Anirban Mazumdar Steven Spencer Jonathan Salton Clinton Hobart Joshua Love Kevin Dullea Michael Kuehl Timothy Blada Morgan Quigley Jesper Smith Sylvain Bertrand Tingfan Wu Jerry Pratt Stephen Buerger Intelligent Systems Sandia National Laboratories Albuquerque NM USA Open Source Robotics Foundation Mountain View CA USA BioInspired Robotic Lab at the Institute for Human and Machine Cognition (IHMC) Pensacola FL USA

In this paper we introduce STEPPR (Sandia Transmission-Efficient Prototype Promoting Research), a bipedal robot designed to explore efficient bipedal walking. The initial iteration of this robot achieves efficient motions through powerful electromagnetic actuators and highly back-drivable synthetic rope transmissions. We show how the addition of parallel elastic elements at select joints is predicted to provide substantial energetic benefits: reducing cost of transport by 30 to 50 percent. Two joints in particular, hip roll and ankle pitch, reduce dissipated power over three very different gait types: human walking, human-like robot walking, and crouched robot walking. Joint springs based on this analysis are tested and validated experimentally. Finally, this paper concludes with the design of two unique parallel spring mechanisms to be added to the current STEPPR robot in order to provide improved locomotive efficiency.

关键词： Torque Springs Joints Legged locomotion Hip Knee

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System design and locomotion of SUPERball, an untethered tensegrity robot

System design and locomotion of SUPERball, an untethered ten...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Andrew P. Sabelhaus Jonathan Bruce Ken Caluwaerts Pavlo Manovi Roya Fallah Firoozi Sarah Dobi Alice M. Agogino Vytas SunSpiral NASA Ames Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab CA USA Department of Mechanical Engineering University of California Berkeley USA Department of Computer Engineering University of California Santa Cruz USA Electronics and Information Systems Department Ghent University Oak Ridge TN Belgium

ISBN: (纸本)9781479969241

The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's intelligent robotics Group and the Dynamic Tensegrity robotics lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

关键词： Robots Sensors Power cables Brushless DC motors Actuators

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Robot-aided assessment of walking function based on an adaptive algorithm

Robot-aided assessment of walking function based on an adapt...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Serena Maggioni Lars Lünenburger Robert Riener Alejandro Melendez-Calderon Hocoma AG Volketswil Switzerland Spinal Cord Injury Center Balgrist University Hospital University Zurich Switzerland Sensory-Motor Systems Lab Institute of Robotics and Intelligent Systems ETH Zürich Switzerland Department of Physical Medicine and Rehabilitation Northwestern University Chicago Illinois USA

ISBN: (纸本)9781479918096

Valid, sensitive and reliable assessments of walking recovery are needed to monitor the progresses of the patients throughout the whole rehabilitation course. Although instrumented assessment methods of walking and walking-related functions exist, they are seldom used in the clinical practice due to the long time required to administer them. The long-term goal of this project is to develop real-time assessment algorithm of walking ability that can be integrated in therapy with a robotic gait trainer. The assessment method is based on an adaptive controller that modifies the level of support as provided by i) the mechanical impedance of the robot's hip and knee joints and ii) the body weight support provided by the device. The level of support is adapted according to the subjects' ability to maintain a physiological walking pattern. We hypothesize that the required level of support is proportional to the walking impairment of the patient. A measure of the robotic assistance necessary for walking in a robotic gait trainer can be used as an assessment of the residual capacity of the subject. We present a first experimental evaluation of the assessment algorithm in 8 healthy subjects using the Lokomat (Hocoma AG, Switzerland), a commercially-available robotic gait trainer. Our results suggest that this method can be a promising tool to objectively assess walking function during training in the clinical practice.

关键词： Legged locomotion Trajectory Impedance Joints Hip Knee

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