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2019 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Elizabeth Cha Emily Meschke Terrence Fong Maja J Matarić Interaction Lab University of Southern California Los Angeles CA USA Intelligent Robotics Group NASA Ames Research Center Mountain View CA USA

Since robots are increasingly expected to work in concert with humans in dynamic, unstructured environments, they will need to express information about their state and actions. We propose a formalism for planning robot communication that employs a probabilistic representation of the robots world. This representation takes on the form of a Markov Decision Process (MDP) and captures the uncertainty of interacting with humans. The key insight of this work is that humans preferences and time need to be carefully balanced against the robots in order to minimize human annoyance. The communication-MDP enables the robot to reason about the effects of its actions on a human interactor. We validated the model through a human subjects experiment (n=44) by learning communication policies for a loosely collaborative task. The results show that the communication-MDP improves participants' perceptions of the robot's thoughtfulness as an interactor.

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A tensegrity-Inspired Compliant 3-DOF Compliant Joint

A Tensegrity-Inspired Compliant 3-DOF Compliant Joint

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IEEE International Conference on robotics and Automation

作者： Jeffrey M. Friesen John L. Dean Thomas Bewley Vytas Sunspiral UC San Diego Coordinated Robotics Lab La Jolla CA USA Stanford University CA Intelligent Robotics Group NASA Ames Research Center CA USA

Our tensegrity-Inspired Compliant Three degree-of-freedom (DOF) robotic joint adds omnidirectional compliance to robotic limbs while reducing sprung mass through base mounted actuation. This enables a robotic limb which is safer to operate alongside humans and fragile equipment while still capable of generating quick movements and large forces if required. Unlike many other soft robotic systems which leverage continuously soft materials, our joint is simpler to model with low order dynamic systems and has a host of embedded sensing which provide ample information of its position and velocity. We first discuss geometry selection and optimization to maximize the theoretical configuration space of the joint. We then show several of our mechatronic design solutions, which are easily generalized to a multitude of cable-driven mechanisms, and demonstrate the performance of these mechanisms within the context of our hardware prototype. We then present results on the controllable stiffness of our physical prototype. Finally, we demonstrate the strength of our prototype which is capable of lifting a 7 kg mass at a distance of 0.95 meters from the joint.

关键词： Robot kinematics Robot sensing systems Geometry Force Topology

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CRUX: a Compliant Robotic Upper-extremity eXosuit for lightweight, portable, multi-joint muscular augmentation

CRUX: a Compliant Robotic Upper-extremity eXosuit for lightw...

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International Conference on Rehabilitation robotics

作者： Steven Lessard Pattawong Pansodtee Ash Robbins Leya Breanna Baltaxe-Admony James M. Trombadore Mircea Teodorescu Adrian Agogino Sri Kurniawan Department of Computer Engineering University of California Santa Cruz 1156 High Street Santa Cruz CA USA NASA Ames Dynamic Tensegrity Robotics Lab Moffett Field CA USA

ISBN: (纸本)9781538622971

Wearable robots can potentially offer their users enhanced stability and strength. These augmentations are ideally designed to actuate harmoniously with the user's movements and provide extra force as needed. The creation of such robots, however, is particularly challenging due to the underlying complexity of the human body. In this paper, we present a compliant, robotic exosuit for upper extremities called CRUX. This exosuit, inspired by tensegrity models of the human arm, features a lightweight (1.3 kg), flexible multi-joint design for portable augmentation. We also illustrate how CRUX maintains the full range of motion of the upper-extremities for its users while providing multi-DoF strength amplification to the major muscles of the arm, as evident by tracking the heart rate of an individual exercising said arm. Exosuits such as CRUX may be useful in physical therapy and in extreme environments where users are expected to exert their bodies to the fullest extent.

关键词： Robots Muscles Elbow Biological system modeling Solid modeling Joints Biological system modeling entity modeling muscles Robot Elbow Joints Joints Consumers Arm spiral arm Human Body Lightweight arm muscle Upper Extremity

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Trajectory tracking control of a flexible spine robot, with and without a reference input

arXiv

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arXiv 2018年

作者： Sabelhaus, Andrew P. Zhao, Shirley Huajing Daly, Mallory C. Tang, Ellande Zhu, Edward Akella, Abishek K. Ahmad, Zeerek A. SunSpiral, Vytas Agogino, Alice M. Dynamic Tensegrity Robotics Lab Moffett FieldCA94035 United States Department of Mechanical Engineering University of California Berkeley United States Levant Power Corp. 475 Wildwood Ave WoburnMA01801 United States Velo3D Inc. 1001 Belford Dr. San JoseCA95132 United States V. SunSpiral is with SGT Inc. GreenbeltMD20770 United States NASA Ames Research Center Moffett FieldCA94035 United States

The Underactuated Lightweight tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this work, model-predictive control is used to track a trajectory in the robot's state space, in simulation. The state trajectory used here corresponds to a bending motion of the spine, with translations and rotations of the moving vertebrae. Two different controllers are presented in this work: one that does not use a reference input but includes smoothing constrants, and a second one that uses a reference input without smoothing. For the smoothing controller, without reference inputs, the error converges to zero, while the simpler-to-tune controller with an input reference shows small errors but not complete convergence. It is expected that this controller will converge as it is improved further. Copyright © 2018, The Authors. All rights reserved.

关键词： Controllers

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Morphological design for controlled tensegrity quadruped locomotion

Morphological design for controlled tensegrity quadruped loc...

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IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Dawn Hustig-Schultz Vytas SunSpiral Mircea Teodorescu University of California Santa Cruz 95064 United States NASA Ames Dynamic Tensegrity Robotics Lab Moffett Field CA 94035 United States

ISBN: (纸本)9781509037636

From the viewpoint of evolution, vertebrates first accomplished locomotion via motion of the spine. Legs evolved later, to enhance mobility, but the spine remains central. Contrary to this, most robots have rigid torsos and rely primarily on movement of the legs for mobility. The force distributing properties of tensegrity structures presents a potential means of developing compliant spines for legged robots, with the goal of driving motion from the robots core. We present an initial exploration of the morphological design of a tensegrity quadruped robot, the first to the authors' knowledge, which we call MountainGoat, and its impact on controllable locomotion. All parts of the robot, including legs and spine, are compliant. Locomotion is aided by the use of central pattern generators, feedback control via a neural network, and machine learning techniques involving the Monte Carlo method as well as genetic evolution for parameter optimization. Control is demonstrated with three variations of MountainGoat, focusing on actuation of the spine as central to the locomotion process.

关键词： Legged locomotion Foot Stability analysis Hip Monte Carlo methods Robustness

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A bio-inspired tensegrity manipulator with multi-DOF, structurally compliant joints

A bio-inspired tensegrity manipulator with multi-DOF, struct...

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IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Steven Lessard Dennis Castro William Asper Shaurya Deep Chopra Leya Breanna Baltaxe-Admony Mircea Teodorescu Vytas SunSpiral Adrian Agogino University of California Santa Cruz 95064 United States of America NASA Ames Dynamic Tensegrity Robotics Lab Moffett Field CA 94035 United States of America

ISBN: (纸本)9781509037636

Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. As a result, the applied loads are transferred rigidly throughout the entire structure. The disadvantage of this approach is that the exerted leverage is magnified at each subsequent joint possibly damaging the mechanism. In this paper, we present two lightweight, elastic, bio-inspired tensegrity robotic arms adapted from prior static models which mitigate this danger while improving their mechanism's functionality. Our solutions feature modular tensegrity structures that function similarly to the human elbow and the human shoulder when connected. Like their biological counterparts, the proposed robotic joints are flexible and comply with unanticipated forces. Both proposed structures have multiple passive degrees of freedom and four active degrees of freedom (two from the shoulder and two from the elbow). The structural advantages demonstrated by the joints in these manipulators illustrate a solution to the fundamental issue of elegantly handling off-axis compliance. Additionally, this initial experiment illustrates that moving tensegrity arms must be designed with large reachable and dexterous workspaces in mind, a change from prior tensegrity arms which were only static. These initial experiments should be viewed as an exploration into the design space of active tensegrity structures, particularly those inspired by biological joints and limbs.

关键词： Manipulators Biological system modeling Shoulder Joints Muscles Elbow

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A lightweight, multi-axis compliant tensegrity joint

A lightweight, multi-axis compliant tensegrity joint

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IEEE International Conference on robotics and Automation (ICRA)

作者： Steven Lessard Jonathan Bruce Erik Jung Mircea Teodorescu Vytas SunSpiral Adrian Agogino University of California Santa Cruz Santa Cruz CA USA NASA Ames Dynamic Tensegrity Robotics Lab CA Stinger Ghaffarian Technologies Greenbelt MD USA

ISBN: (纸本)9781467380270

In this paper, we present a lightweight, multi-axis compliant tensegrity joint that is biologically inspired by the human elbow. This tensegrity elbow actuates by shortening and lengthening cables in a method inspired by muscular actuation in a person. Unlike many series elastic actuators, this joint is structurally compliant not just along each axis of rotation, but along other axes as well. Compliant robotic joints are indispensable in unpredictable environments, including ones where the robot must interface with a person. The joint also addresses the need for functional redundancy and flexibility, traits which are required for many applications that investigate the use of biologically accurate robotic models.

关键词： Robots Joints Elbow Muscles Actuators Bones Resists

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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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Towards bridging the reality gap between tensegrity simulation and robotic hardware

Towards bridging the reality gap between tensegrity simulati...

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IEEE/RSJ International Conference on intelligent Robots and Systems

作者： B. T. Mirletz In-Won Park R. D. Quinn V. SunSpiral Biologically Inspired Robotics Lab Department of Mechanical and Aerospace Engineering Case Western Reserve University Cleveland OH In-Won Park (Oak Ridge Associated Universities) and Vytas SunSpiral (SGT Inc.) are members of the Intelligent Robotics Group NASA Ames Research Center Moffett Field CA

Using a new hardware implementation of our designs for tunably compliant spine-like tensegrity robots, we show that the nasa tensegrity robotics Toolkit can effectively generate and predict desirable locomotion strategies for these many degree of freedom systems. tensegrity, which provides structural integrity through a tension network, shows promise as a design strategy for more compliant robots capable of interaction with rugged environments, such as a tensegrity interplanetary probe prototype surviving multi-story drops. Due to the complexity of tensegrity structures, modeling through physics simulation and machine learning improves our ability to design and evaluate new structures and their controllers in a dynamic environment. The kinematics of our simulator, the open source nasa tensegrity robotics Toolkit, have been previously validated within 1.3% error on position through motion capture of the six strut robot ReCTeR. This paper provides additional validation of the dynamics through the direct comparison of the simulator to forces experienced by the latest version of the Tetraspine robot. These results give us confidence in our strategy of using tensegrity to impart future robotic systems with properties similar to biological systems such as increased flexibility, power, and mobility in extreme terrains.

关键词： Robots Hardware nasa Mathematical model Adaptation models DC motors Physics

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