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IEEE International Conference on Systems, Man and Cybernetics

作者： Velin Dimitrov Mathew DeDonato Adam Panzica Samir Zutshi Mitchell Wills Taskin Padir Robotics Engineering Program Worcester Polytechnic Institute

This work presents a hierarchical navigation architecture and cascade classifier for sample search and identification on a space exploration rover. A three tier navigation architecture and inverse Jacobian based robot arm controller are presented. The algorithms are implemented on AERO, the Autonomous Exploration Rover, participating in the NASA Sample Return Robot Centennial Challenge in 2013 and initial results are demonstrated.

关键词： Navigation Manipulators Robot sensing systems Planning Robot kinematics

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Modular Robot Arm Design for Physical Human-Robot Interaction

Modular Robot Arm Design for Physical Human-Robot Interactio...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Ty Tremblay Taskin Padir Robotics Engineering Program Worcester Polytechnic Institute

This paper describes the design and implementation of the controls and power plant for a robotic arm for physical human-robot interaction on a cyber-physical wheelchair system. There are almost 50 million people in the US who have some degree of disability, and more than 6.5 million of them experience problems with self-care. The aim of this research is to develop a system to control a modular cable-driven arm which will allow locked-in individuals, who are unable to interact with the physical world through movement and speech, to perform activities of daily living (ADL). We present the design of a compact power plant for the 5DOF arm. The robot control is implemented using the Robot Operating System (ROS) framework.

关键词： Joints Wheelchairs Mobile robots Manipulators Robot sensing systems

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Kinematic Control of a Planetary Exploration Rover over Rough Terrain

Kinematic Control of a Planetary Exploration Rover over Roug...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Thomas J. Carlone Jon J. Anderson Joseph L. Amato Velin D. Dimitrov Taskin Padir Robotics Institute Carnegie Mellon University Robotics Engineering Program Worcester Polytechnic Institute

Passive averaging suspensions have been proven highly effective on rovers for improving mobility by providing ground compliance. However, the passive degree of freedom poses an added challenge to the controls problem. This paper presents a controller design to increase the accuracy of straight line trajectories for rovers with passive suspension on rough terrain. The chosen approach uses only proprioceptive sensors, a 3D kinematic model, and a trivial ground plane estimator algorithm to adjust individual wheel velocities based on estimates of terrain slope. This has distinct advantages to other techniques that use global position sensors and dynamic models which inevitably lead to more complex and computationally intensive solutions. The proposed controller is simulated in Matlab and found to be successful through experiments conducted with ORYX 2.0, a planetary rover research platform. This paper presents the feed forward velocity controller design, simulations, and experimental results for validation.

关键词： Wheels Kinematics Suspensions Three-dimensional displays Trajectory MATLAB Feedforward neural networks

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Linear One-to-Many (OTM) system

Linear One-to-Many (OTM) system

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IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Thane R. Hunt Christopher J. Berthelette Marko B. Popovic Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA Robotics Engineering Program Mechanical Engineering Department Worcester Polytechnic Institute Worcester MA USA Robotics Engineering Program Biomedical Engineering Department Physics Department Worcester Polytechnic Institute Worcester MA USA

We report on progress on the "One-To-Many" (OTM) concept that allows a single electric motor to store energy in the form of elastic potential energy to drive multiple (e.g. hundred) motor units or independently controlled mechanical degrees of freedom. Critical to this concept is the OTM architecture which utilizes light weight, high-speed, energy efficient, robust, and cost-effective clutches that provide positional feedback. Here, we address linear springs as elastic mediums for energy storage and bi-stable solenoid based clutches that require minimal energy to transition between states. We analyze the power transfer of the system, discuss current and future designs and suggest avenues for potential applications of this practical technology.

关键词： Prototypes Mechanical cables Vehicles

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Bilateral control for haptic laparoscopic surgery robot

Bilateral control for haptic laparoscopic surgery robot

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2013 44th IEEE International Symposium on robotics, ISR 2013

作者： Yoon, Sung Min Kim, Won Jae Lee, Min Cheol Choi, Woo Hyeok Graduate School of Mechanical Engineering Pusan National University Busan Korea Republic of School of Mechanical Engineering Pusan National University Busan Korea Republic of Interdisciplinary Program in Robotics Pusan National University Busan Korea Republic of

ISBN: (纸本)9781479911738

When using commercialized robot assisted laparoscopic such as Da Vinci, surgeon has met some problem to depend only on the information by visual feedback. To solve this problem, haptic function is required. In order to realize the haptic teleoperation system, force feedback and bilateral control system are needed. The previous researches showed that the perturbation value estimated by sliding perturbation observer(SPO) followed a reaction force loaded on the surgical robot instrument well. This paper addresses a bilateral control which is performed to realize haptic teleoperation based on this estimated force. The experiment results shows that a torque and force sensorless teleoperation system can be implemented using bilateral control structure. © 2013 IEEE.

关键词： Robotic surgery

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Obstacle recognition using a haptic device

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Journal of Measurement Science and Instrumentation 2013年第4期4卷 376-380页

作者： Kyungwook Noh Donghyuk Lee Sunkyun Kang Jaewon An Jangmyung Lee Department of Interdisciplinary Program in Robotics Pusan National University Department of Electrical Engineering Pusan National University

A haptic device is proposed which gives the user feedback information on their location and orientation of the obstacle through the mobile robot that detects the obstacle in an environment where the user cannot *** robot recognizes the exact position of the obstacle through configuring the nested ultrasonic sensor and giving feedback information to the haptic *** haptic device consisting of five vibration motors can realize the haptic through the vibration of user's finger using the position information of the obstacle received *** addition,it has high accuracy to recognize the surrounding environment and realizes the various situations with the fuzzy controller and the nested ultrasonic sensors.

关键词： haptic device teleoperation haptic feedback mobile robot obstacle recognitionDocument code：AArticle ID：1674-8042（2013）04-0376-05

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Magnetic resonance wireless power transmission using a LLC resonant circuit for a locomotion robot's battery charging

Magnetic resonance wireless power transmission using a LLC r...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Kim, Ki-Ryong Kim, Dong-Hyun Kim, Hee-Je Department of Interdisciplinary Program in Robotics Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of Department of Electrical Engineering Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of

ISBN: (纸本)9783642408519

The purpose of this paper is a locomotion robot's battery charging. Using a LLC resonant circuit and magnetic resonance WPT(Wireless Power Transmission). The proposed this WPT system consists of transmitter and receiver circuits. The transmitter is a LLC resonant circuit and receiver circuit is a LC resonant circuit that has a resonant coil, a capacitor, and full bridge diode rectifier. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Charging (batteries)

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Development of a low-cost, self-contained, combined vision and inertial navigation system

Development of a low-cost, self-contained, combined vision a...

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2013 IEEE Conference on Technologies for Practical Robot Applications, TePRA 2013

作者： Barrett, Justin M. Gennert, Michael A. Michalson, William R. Audi, Michael D. Center, Julian L. Kirk, James F. Welch, Bryan W. Robotics Engineering Program Worcester Polytechnic Institute Worcester MA United States Autonomous Exploration Inc. Andover MA United States NASA Glenn Research Center Cleveland OH United States

ISBN: (纸本)9781467362252

In the field of autonomous vehicle research, maintaining accurate estimates of a vehicle's velocities, position, and orientation is crucial to successful navigation. Normally, this information can be obtained through the use of a GPS system. However, GPS signals are not always available in some of the more exotic or dangerous locations that a vehicle might be dispatched to. This paper proposes a hybrid navigation system for autonomous vehicles that uses inertial sensors and a stereo camera system to accurately determine the velocities, position, and orientation of a vehicle. Such a system would be ideal for vehicles that have to operate in underground, indoor, extraterrestrial, or other GPS-denied environments. © 2013 IEEE.

关键词： Global positioning system

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2D image feature-based real-time RGB-D 3D SLAM

2D image feature-based real-time RGB-D 3D SLAM

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1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012

作者： Lee, Donghwa Kim, Hyongjin Myung, Hyun Department of Civil and Environmental Engineering KAIST 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of Robotics Program KAIST 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9783642373732

This paper proposes a real-time RGB-D (red-green-blue depth) 3D SLAM (simultaneous localization and mapping) system. Kinect style sensors give RGB-D data which contains 2D image and per-pixel depth information. 6-DOF (degree-of-freedom) visual odometry is obtained through the 3D-RANSAC (three-dimensional random sample consensus) algorithm with image features and depth information. For speed up extraction of features, parallel computation is performed on a GPU (graphics processing unit) processor. After a feature manager detects loop closure, a graph-based SLAM algorithm optimizes trajectory of the sensor and 3D map. Experimental results show the processing rate over 20 Hz. © 2013 Springer-Verlag.

关键词： Graphics processing unit

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Human-Robot Collaborative Manipulation Planning Using Early Prediction of Human Motion

Human-Robot Collaborative Manipulation Planning Using Early ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Jim Mainprice Dmitry Berenson Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Rd Worcester MA 01609 USA

ISBN: (纸本)9781467363563

In this paper we present a framework that allows a human and a robot to perform simultaneous manipulation tasks safely in close proximity. The proposed framework is based on early prediction of the human's motion. The prediction system, which builds on previous work in the area of gesture recognition, generates a prediction of human workspace occupancy by computing the swept volume of learned human motion trajectories. The motion planner then plans robot trajectories that minimize a penetration cost in the human workspace occupancy while interleaving planning and execution. Multiple plans are computed in parallel, one for each robot task available at the current time, and the trajectory with the least cost is selected for execution. We test our framework in simulation using recorded human motions and a simulated PR2 robot. Our results show that our framework enables the robot to avoid the human while still accomplishing the robot's task, even in cases where the initial prediction of the human's motion is incorrect. We also show that taking into account the predicted human workspace occupancy in the robot's motion planner leads to safer and more efficient interactions between the user and the robot than only considering the human's current configuration.

关键词： Human Motion human's current configuration robot than only considering

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