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IEEE International Conference on robotics and Automation (ICRA)

作者： K.-F. Bohringer J.W. Suh B.R. Donald G.T.A. Kovacs Robotics & Vision Lab Department of Computer Science Cornell University Ithaca NY USA Transducers Lab Department of Electrical Engineering University of Stanford Stanford CA USA Robotics Lab Department of Computer Science University of Stanford Stanford CA USA

Distributed manipulation experiments were performed using a massively-parallel, microfabricated actuator array. An organic ciliary array of thin-film polyimide bimorph microactuators exploiting combined thermal and electrostatic control was employed to implement task-level, sensorless manipulation strategies for macroscopic objects. The tasks of parts-translation, -rotation, -orientation, and -centering were demonstrated using small integrated circuit (IC) dice. Strategies were programmed in a fine-grained SIMD (single instruction, multiple data) fashion by specifying planar force vector fields. When a part is placed on the array, the programmed vector field induces a force and moment upon it. The part's equilibrium states may be predicted and cascaded (using a sequence of fields) to bring the part to a desired final state. Vector fields with and without potential were tested in experiments, and the behavior of parts in the fields was compared with the theory of programmable vector fields. These fields were implemented by actuating the organic cilia in a cyclic, gait-like fashion. Motion in non-principal (e.g. diagonal) directions was effected by a pairwise coupling of the cilia to implement virtual cilia. These experiments suggest that MEMS actuator arrays are useful for parts-orientation, -posing, -transfer, -singulation, and -sorting.

关键词： Actuators Sensor arrays Thin film circuits Thin film sensors Polyimides Microactuators Electrostatics Sensorless control Force sensors Testing

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What programmable vector fields can (and cannot) do: force field algorithms for MEMS and vibratory plate parts feeders

What programmable vector fields can (and cannot) do: force f...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.-F. Bohringer B.R. Donald N.C. MacDonald Robotics & Vision Lab. Cornell Univ. Ithaca NY USA Robotics & Vision Laboratory Department of Computer Science Cornell University Ithaca NY USA School of Electrical Engineering and Cornell Nanofabrication Facility Cornell University Ithaca NY USA

Programmable vector fields can be used to control a variety of flexible planar parts feeders. When a part is placed on our devices, the programmed vector field induces a force and moment upon it. Over time, the part may come to rest in a dynamic equilibrium state. We demonstrate lower bounds on what the devices cannot do, and results on a classification of control strategies. We suggest sufficient conditions for programmable fields to induce well-behaved equilibria on every part placed on our devices. We define composition operators to build complex strategies from simple ones, and show the resulting fields are also well-behaved. We discuss whether fields outside this class can be useful and free of pathology. Using these tools, we describe new manipulation algorithms, and improve existing planning algorithms by a quadratic factor, and the plan-length by a linear factor. We relax earlier dynamic and mechanical assumptions to obtain more robust and flexible strategies. Finally, we consider parts feeders that can only implement a very limited "vocabulary" of vector fields. We discuss the trade-off between mechanical complexity and planning complexity.

关键词： Micromechanical devices Automatic control Force control Feeds Assembly Robot vision systems laboratories computer science Nanofabrication Uniform resource locators

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A LITERATURE-REVIEW - ROBOTS IN MEDICINE

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IEEE engineering IN MEDICINE AND BIOLOGY MAGAZINE 1991年第2期10卷 13-&页

作者： PREISING, B HSIA, TC MITTELSTADT, B Robotics Research Lab Department of Electrical Engineering and Computer Science University of California Davis USA

Robotic systems employed in the laboratory, in rehabilitation, and in surgery are reviewed. The advantages of using a robot system over manual procedures in the laboratory to prepare samples is discussed, and some of the obstacles are noted. A typical laboratory robot is described. Rehabilitative applications in the major research areas of tactile sensors, assistive devices for the blind, prosthetics, and orthotics are examined. Manipulators that can help a disabled individual with important everyday tasks and other assistive robotic systems in rehabilitation are described. A variety of robots that assist or perform surgery is surveyed. These applications include positioning in stereotactic neurosurgery, patient manipulation, an in vivo spinal kinematic instrument, and robotic radial keratotomy, among others.< >

关键词： Medical robotics Rehabilitation robotics Robot sensing systems laboratories Surgery Tactile sensors Prosthetics Orthotics Manipulators Neurosurgery

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'Chaotic relaxation' in concurrently asynchronous neurodynamics

'Chaotic relaxation' in concurrently asynchronous neurodynam...

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International Joint Conference on Neural Networks (IJCNN)

作者： Barhen Gulati California Institute of Technology Jet Propulsion Laboratory Pasadena CA USA Division of Engineering and Applied Sciences California Institute of Technology USA The Robotics Research Lab Department of Computer Science Louisiana State University Baton Rouge LA USA

A mathematical framework for reconditioning additive-type models is proposed, and a neuro-operator, based on the chaotic relaxation paradigm, whose resulting dynamics is neither concurrently synchronous nor sequentially asynchronous is derived. Necessary and sufficient conditions guaranteeing concurrent asynchronous convergence are established in terms of contracting operators. Lyapunov exponents are also computed to characterize the network dynamics and to ensure that throughput-limiting chaotic behavior in models reconditioned with concurrently asynchronous algorithms has been eliminated.< >

关键词： Chaos Lyapunov methods Neural networks Parallel algorithms

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AN INTELLIGENT ROBOTIC SYSTEM FOR REHABILITATION OF JOINTS AND ESTIMATION OF BODY SEGMENT PARAMETERS

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IEEE TRANSACTIONS ON BIOMEDICAL engineering 1988年第2期35卷 138-146页

作者： KHALILI, D ZOMLEFER, M Robotics Laboratory Department of Electrical Engineering and Computer Science Santa Clara University Santa Clara CA USA Robotics Lab. Santa Clara Univ. CA USA

An an application of robotics in physical rehabilitation therapy, a robotic system consisting of two planar robot arms, each with two degrees of freedom, is considered. This robotic system, when coupled across a human joint, provides a vehicle for rehabilitation of the joint following surgery or trauma. A novel approach for estimation of body segment parameters is formulated that uses state and output information from the robot system to improve these estimates. In addition, redundant sensors are used to improve the accuracy of the estimates. The dynamic equations for a single robot arm are provided and the system is simulated. Therapeutic applications of the robotic system are discussed and the sensitivity of the measured forces with respect to the robot arm joint angles is studied in order to find an optimum orientation of the system for the best possible estimation. The application of this system to both rehabilitation and sports medicine is also discussed.< >

关键词： Intelligent robots Intelligent systems Rehabilitation robotics Robot sensing systems Joints State estimation Medical robotics Medical treatment Manipulators Humans

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PROGRESS--A graphical robot programming system

PROGRESS--A graphical robot programming system

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Naylor Lejun Shao R. Volz R. Jungclas P. Bixel K. Lloyd Robotics Research Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI General Electric Company Bell Lab. of AT&T company

A graphical off-line robot programming system should not only be able to simulate various types of robot movement graphically, it should also be able to use graphics to interact with binary sensors, actuators and etc., in order to simulate logic-related and other functions of robot languages, such as testing and branching, looping, communication and external event handling graphically. We present a graphical off-line robot programming system which has some of these additional features. In particular, it incorporates a geometrical representation of logical conditions into the geometrical representation of the robot and workspace and it allows conditional statements to be programmed in a geometric setting.

关键词： Robot programming Graphics Displays Actuators Shape Robot sensing systems Grippers Sensor systems Control systems Temperature

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Advances in robotics 1

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丛书名： Lecture Notes in computer science

1000年

作者： Jong-Hwan Kim Shuzhi Sam Ge Prahlad Vadakkepat Abdullah Al Manum Norbert Jesse Sadasivan Puthusserypady K Ulrich Rückert Joaquin Sitte Ulf Witkowski Ryohei Nakatsu Jacky Baltes John Anderson Igor Verner

ISBN: (数字)9783642039836

ISBN: (纸本)9783642039829

th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is a non-profit organization, which organizes robotic competitions and meetings around the globe annually. The RoboSoccer competitions started in 1996 and FIRA was - tablished on June 5, 1997. The Robot Soccer competitions are aimed at promoting the spirit of science and technology to the younger generation. The congress is a forum in which to share ideas and future directions of technologies, and to enlarge the human networks in robotics area. The objectives of the FIRA Cup and Congress are to explore the technical dev- opment and achievement in the field of robotics, and provide participants with a robot festival including technical presentations, robot soccer competitions and exhibits - der the theme “Where Theory and Practice Meet. ” th Under the umbrella of the 12 FIRA RoboWorld Congress Incheon 2009, six int- national conferences were held for greater impact and scientific exchange: th • 6 International Conference on Computational Intelligence, robotics and Autonomous Systems (CIRAS) th • 5 International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE) • International Conference on Social robotics (ICSR) • International Conference on Advanced Humanoid robotics Research (ICAHRR) • International Conference on Entertainment robotics (ICER) • International robotics Education Forum (IREF) This volume consists of selected quality papers from the six conferences.

关键词： Artificial Intelligence User Interfaces and Human computer Interaction computers and Society computers and Education Personal Computing computer Appl. in Social and Behavioral sciences

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Social robotics 1

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丛书名： Lecture Notes in computer science

1000年

作者： Shuzhi Sam Ge Haizhou Li John-John Cabibihan Yeow Kee Tan

ISBN: (数字)9783642172489

ISBN: (纸本)9783642172472

The papers in this volume were the fruitful scientific results of the Second International Conference on Social robotics (ICSR), held during November 23–24, 2010 in Singapore, which was jointly organized by the Social robotics laboratory (SRL), Interactive Digital Media Institute (IDMI), the National University of Singapore and 2 Human Language Technology department, the Institute for Infocomm Research (I R), A*STAR, Singapore. These papers address a range of topics in social robotics and its applications. We received paper submissions from America, Asia, and Europe. All the papers were reviewed by at least three referees from the 32-member Program Committee who were assembled from the global community of social robotics researchers. This v- ume contains the 42 papers that were selected to report on the latest developments and studies of social robotics in the areas of human––robot interaction; affective and cognitive sciences for interactive robots; design philosophies and software archit- tures for robots; learning, adaptation and evolution of robotic intelligence; and mec- tronics and intelligent control.

关键词： Artificial Intelligence User Interfaces and Human computer Interaction computers and Society computer Appl. in Social and Behavioral sciences computer Imaging, Vision, Pattern Recognition and Graphics Special Purpose and Application-Based Systems

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Advances in Service and Industrial robotics 1

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丛书名： Advances in Intelligent Systems and Computing

1000年

作者： Karsten Berns Daniel Görges

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