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检索条件"机构=Robotics Engineering Program Worcester Polytechnic Institute"

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Human-centered design of a cyber-physical system for advanced response to Ebola (CARE)

Human-centered design of a cyber-physical system for advance...

引用

Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Velin Dimitrov Vinayak Jagtap Jeanine Skorinko Sonia Chernova Michael Gennert Taşkın Padır Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA Worcester Polytechnic Institute Worcester MA US

We describe the process towards the design of a safe, reliable, and intuitive emergency treatment unit to facilitate a higher degree of safety and situational awareness for medical staff, leading to an increased level of patient care during an epidemic outbreak in an unprepared, underdeveloped, or disaster stricken area. We start with a human-centered design process to understand the design challenge of working with Ebola treatment units in Western Africa in the latest Ebola outbreak, and show preliminary work towards cyber-physical technologies applicable to potentially helping during the next outbreak.

关键词： Robot sensing systems Safety Africa Diseases Tracking

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A cyber physical system testbed for assistive robotics technologies in the home

A cyber physical system testbed for assistive robotics techn...

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International Conference on Advanced robotics (ICAR)

作者： Velin Dimitrov Vinayak Jagtap Mitchell Wills Jeanine Skorinko Taşkın Padır Robotics Engineering Worcester Polytechnic Institute Worcester Massachusetts

We present a cyber-physical system (CPS) testbed to enable the rapid development, testing, and deployment of assistive robotics technologies in the home of elderly individuals. We built a CPS testbed in a lab environment with initial capabilities allowing for the testing of both individual systems and collections of systems. The CPS testbed has communication, computation, sensing, and control resources available that can be leveraged by individual subsystems within the CPS. We present projects built by different design teams to be integrated in the CPS environment to help the elderly live independent lives and age in place. Finally, we describe a case study for the use of a mobile robot within the CPS to detect and respond in case an elderly person falls at home.

关键词： Senior citizens Cameras Robot sensing systems Skeleton Testing

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Feedforward augmented sliding mode motion control of antagonistic soft pneumatic actuators

Feedforward augmented sliding mode motion control of antagon...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Erik H. Skorina Ming Luo Selim Ozel Fuchen Chen Weijia Tao Cagdas D. Onal Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA USA

ISBN: (纸本)9781479969241

Soft pneumatic actuators provide many exciting properties, but controlling them without the use of bulky and expensive flow-control valves can be difficult and computationally expensive. We seek a solution to this problem by introducing an inexpensive and reliable muscle-like linear soft actuator used antagonistically to operate a rigid 1-DoF joint, resulting in a system that combines the advantages of rigid and soft robotics. Using this setup, we performed precise motion control using a sliding mode feedback controller as well as a sliding mode controller augmented by a feedforward term to modulate the state of solenoid valves that drive each actuator. We found that both controllers performed equivalently well in following a step function and in responding to a disturbance. The feedforward augmented controller performed significantly better when following dynamic trajectories over a range of frequencies and with the addition of an external force. The next step will be to modify our valve control scheme to allow for the determination of both the position and stiffness of the joint, better leveraging the advantages of soft pneumatic actuators.

关键词： Actuators Joints Valves Pulse width modulation Rubber Motion control Solenoids

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Multi-crease self-folding by global heating

Multi-crease self-folding by global heating

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作者： Miyashita, Shuhei Onal, Cagdas D. Rus, Daniela Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology 32 Vassar Street 32-379 CambridgeMA02139 United States Worcester Polytechnic Institute Department of Mechanical Engineering Robotics Engineering Program 100 Institute Rd. HL 105 WorcesterMA01609 United States

This study demonstrates a new approach to autonomous folding for the body of a 3D robot from a 2D sheet, using heat. We approach this challenge by folding a 0.27-mm sheetlike material into a structure. We utilize the thermal deformation of a contractive sheet sandwiched by rigid structural layers. During this baking process, the heat applied on the entire sheet induces contraction of the contracting layer and thus forms an instructed bend in the sheet. To attain the targeted folding angles, the V-fold spans method is used. The targeted angle θout can be kinematically encoded into crease geometry. The realization of this angle in the folded structure can be approximately controlled by a contraction angle θin. The process is non-reversible, is reliable, and is relatively fast. Our method can be applied simultaneously to all the folds in multi-crease origami structures. We demonstrate the use of this method to create a lightweight mobile robot. © 2015 Massachusetts institute of Technology.

关键词： Self assembly

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A framework for unsupervised online human reaching motion recognition and early prediction

A framework for unsupervised online human reaching motion re...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Ruikun Luo D. Berenson Ruikun Luo and Dmitry Berenson are with the Robotics Engineering Program Worcester Polytechnic Institute Worcester MA US

This paper focuses on recognition and prediction of human reaching motion in industrial manipulation tasks. Several supervised learning methods have been proposed for this purpose, but we seek a method that can build models on-the-fly and adapt to new people and new motion styles as they emerge. Thus, unlike previous work, we propose an unsupervised online learning approach to the problem, which requires no offline training or manual categorization of trajectories. Our approach consists of a two-layer library of Gaussian Mixture Models that can be used both for recognition and prediction. We do not assume that the number of motion classes is known a priori, and thus the library grows if it cannot explain a new observed trajectory. Given an observed portion of a trajectory, the framework can predict the remainder of the trajectory by first determining what GMM it belongs to, and then using Gaussian Mixture Regression to predict the remainder of the trajectory. We tested our method on motion-capture data recorded during assembly tasks. Our results suggest that the proposed framework outperforms supervised methods in terms of both recognition and prediction. We also show the benefit of using our two-layer framework over simpler approaches.

关键词： Trajectory Libraries Hidden Markov models Prediction algorithms Training Robots Supervised learning

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Realization of Vision-Based Navigation and Object Recognition Algorithms for the Sample Return Challenge

Realization of Vision-Based Navigation and Object Recognitio...

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IEEE Aerospace Conference

作者： Velin Dimitrov Mitchell Wills Taskin Padir Robotics Engineering Worcester Polytechnic Institute MA

We present the improvements to AERO, the Autonomous Exploration Rover, developed for the 2014 NASA Sample Return Robot competition with the intent of enabling more robust and reliable autonomous operation for sample return rovers. The competition requires the robot to navigate a large outdoor area, find and collect various geologic samples, and return to the starting platform all autonomously and utilizing only space compatible technologies. We highlight improvements made in the implementation and deployment of the vision, navigation, and planning systems. We describe the process of modifying the software to be closer aligned with ROS standard practices, resulting in more predictable and stable operation. We conclude by providing a roadmap for the integration of multiple heterogeneous systems in a shared control framework to enable efficient exploration of large unknown environments.

关键词： Navigation Planning Training Cameras Lasers Robot vision systems

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NO FALLS, NO RESETS: Reliable Humanoid Behavior in the DARPA robotics Challenge

NO FALLS, NO RESETS: Reliable Humanoid Behavior in the DARPA...

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IEEE-RAS International Conference on Humanoid Robots

作者： C. G. Atkeson B. P. W. Babu N. Banerjee D. Berenson C. P. Bove X. Cui M. DeDonato R. Du S. Feng P. Franklin M. Gennert J. P. Graff P. He A. Jaeger J. Kim K. Knoedler L. Li C. Liu X. Long T. Padir F. Polido G. G. Tighe Robotics Institute Carnegie Mellon University Robotics Engineering Worcester Polytechnic Institute

ISBN: (纸本)9781479968862

We describe Team WPI-CMU's approach to the DARPA robotics Challenge (DRC), focusing on our strategy to avoid failures that required physical human intervention. We implemented safety features in our controller to detect potential catastrophic failures, stop the current behavior, and allow remote intervention by a human supervisor. Our safety methods and operator interface worked: we avoided catastrophe and remote operators could safely recover from difficult situations. We were the only team in the DRC Finals that attempted all tasks, scored points (14/16), did not require physical human intervention (a reset), and did not fall in the two missions during the two days of tests. We also had the most consistent pair of runs. Much of the paper discusses lessons learned from the DRC.

关键词： DARPA NOBELIUM Security measures catastrophic failure robotics Religious Missions catastrophes Humanoid operator interface Controllers

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Human-Supervised Control of the ATLAS Humanoid Robot for Traversing Doors

Human-Supervised Control of the ATLAS Humanoid Robot for Tra...

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IEEE-RAS International Conference on Humanoid Robots

作者： Nandan Banerjee Xianchao Long Ruixiang Du Felipe Polido Siyuan Feng Christopher G. Atkeson Michael Gennert Taskin Padir Robotics Engineering Worcester Polytechnic Institute Robotics Institute Carnegie Mellon University

ISBN: (纸本)9781479968862

Door traversal is generally a trivial task for human beings but particularly challenging for humanoid robots. This paper describes a holistic approach for a full-sized humanoid robot to traverse through a door in an outdoor semi-structured environment as specified by the requirements of the DARPA robotics Challenge. Door traversal can be broken down into four sub-tasks;door detection, walk to the door, door opening, and walk through the door. These topics are covered in detail along with the approaches used for perception and motion planning. Results from lab tests and the DRC Finals are shown. The approach presented in this paper can be further extended to a wide range of door types and configurations.

关键词： DOOR Humanoid robots doorways laboratory procedure Human Humanoid senses Perception walking Atlas atlas

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Predicting human reaching motion in collaborative tasks using Inverse Optimal Control and iterative re-planning

Predicting human reaching motion in collaborative tasks usin...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jim Mainprice Rafi Hayne Dmitry Berenson Autonomous Motion Department Max-Planck-Institute for Intelligent Systems Tbingen Germany Robotics Engineering Program Worcester Polytechnic Institute Worcester MA

To enable safe and efficient human-robot collaboration in shared workspaces, it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very challenging, we argue that single-arm reaching motions for known tasks in collaborative settings (which are especially relevant for manufacturing) are indeed predictable. Two hypotheses underlie our approach for predicting such motions: First, that the trajectory the human performs is optimal with respect to an unknown cost function, and second, that human adaptation to their partner's motion can be captured well through iterative replanning with the above cost function. The key to our approach is thus to learn a cost function which “explains” the motion of the human. To do this, we gather example trajectories from two participants performing a collaborative assembly task using motion capture. We then use Inverse Optimal Control to learn a cost function from these trajectories. Finally, we predict a human's motion for a given task by iteratively replanning a trajectory for a 23 DoF human kinematic model using the STOMP algorithm with the learned cost function in the presence of a moving collaborator. Our results suggest that our method outperforms baseline methods and generalizes well for tasks similar to those that were demonstrated.

关键词： Trajectory Collaboration Cost function Planning Optimal control Prediction algorithms Hidden Markov models

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TriBot: A minimally-actuated accessible holonomic hexapedal locomotion platform

TriBot: A minimally-actuated accessible holonomic hexapedal ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： S. T. Kalat S. G. Faal U. Celik C. D. Onal Department of Mechanical Engineering Worcester Polytechnic Institute Soft Robotics Laboratory Worcester MA

This paper introduces a unique hexapedal locomotion platform tagged TriBot as potential agents for swarm robotic systems. We investigate the differences in performance and kinematic characteristics of two identical prototypes of this mobile robot manufactured using different design and fabrication methods and materials. Among alternatives for mass production, we focus on cut-and-assemble (CA) acrylic bodies and cut-and-fold (CF) origami-inspired polyester structures as two promising methods for manufacturing these agents. Through a comprehensive comparison between the two prototypes, advantages and disadvantages of each robot development approach are presented. This information will enable the selection of the most appropriate robotic platform according to environmental and operational task specifications.

关键词： Legged locomotion Couplings Prototypes Fabrication Trajectory Kinematics

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