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In fast changing assembly scenarios, it is required to adapt the task execution to the current state of the setup without extensive calibration routines. Therefore, it is important to estimate the geometric uncertainties and contact states during the assembly execution. We use a sequential Monte Carlo (SMC) method to track the relative poses between workpieces during a robotic assembly based on joint...
This paper proposes a scheme to provide flexible semi-autonomous grasping capabilities to an assistive robotic manipulator. The testbed consists of a five-finger robotic hand mounted on a robotic arm. During teleoperation, the position of the hand is continuously controlled in the three translational degrees of freedom, and the user has no direct influence over the rotational behavior. The proposed...
Autonomous robots need to generate complete 3D models from a limited range of view when trying to manipulate objects for which no model is known a priori. This can be achieved by detecting symmetrical parts of an object, thus, creating an estimate of the invisible back sides. These symmetrical parts are typically modeled as primitive shapes (cylinders, spheres, cones, etc.), and fitted to noisy sensor...
Traditional approaches in grasping consider separately the planning of contact points and forces. This often leads to optimally simulated grasps that fail in a real execution when the forces applied at the chosen contact points cannot resist expected perturbations like the own object weight. This paper presents a method that combines a grasp planner with the computation of grasp forces, which provides...
We introduce image based visual servoing (IBVS) into a shared autonomy grasping system to improve its performance. Visual servoing is a technique that uses visual input to control a dynamic system, such as a robot. Autonomous grasp planning is used to calculate stable grasps to simplify the user control over a robot hand to 1 degree of freedom (DOF) open and close in contrast to controlling every...
In this work, we deal with the problem of planning a manipulation task for a robotic system composed of at least one dexterous arm and a dexterous multi-fingered hand. The goal of the local planner is to include both, the arm and the hand, in the execution of the task in a coordinated way. This is achieved by using the workspace of the hand which is computed offline. During the online planning, the...
This work integrates visual and physical constraints to perform real-time depth-only tracking of articulated objects, with a focus on tracking a robot's manipulators and manipulation targets in realistic scenarios. As such, we extend DART, an existing visual articulated object tracker, to additionally avoid interpenetration of multiple interacting objects, and to make use of contact information collected...
The growth of space debris is becoming a severe issue that urgently requires mitigation measures based on maintenance, repair, and de-orbiting technologies. Such on-orbit servicing (OOS) missions, however, are delicate and expensive. Virtual Reality (VR) enables the simulation and training in a flexible and safe environment, and hence has the potential to drastically reduce costs and time, while increasing...
In this paper we evaluate ultrasound imaging as a human-machine interface in the context of rehabilitation. Ultrasound imaging can be used to estimate finger forces in real-time with a short and easy calibration procedure. Forces are individually predicted using a transducer fixed on the forearm, which leaves the hand completely free to operate. In this application, a standard ultrasound machine is...
In the quest for better human-machine interfaces (HMIs) for teleoperation and virtual reality, we hereby present the first integrated application of medical ultrasound imaging to remotely control a virtual piano playing environment in realtime.
Classic telepresence approaches allow a human to interact with a remote or a virtual reality environment (VR) with force feedback. Coupling with a remote robot can be used to work in dangerous environments without the human being on-site. The coupling with a VR system can be used for training and verification of task sequences or robotic actions.
This paper presents a user study evaluating teleoperated grasping performance and perceived workload of the human operator in a shared autonomy setup when working with different assistance modes and hand kinematics. The hands of a humanoid robot are operated using two approaches: direct mapping of human finger motions (telemanipulation), and “open/close” commands in combination with online grasp planning...
In-hand manipulation with a multifinger hand is defined as changing the object pose from an initial to a final grasp configuration, while maintaining the fingertip contacts on the object surface. Given only the task constraints, represented as a desired motion of the object and an external force to be applied or resisted, the problem can be expressed as finding a good set of contact points on the...
The growth of space debris is becoming a serious problem. There is an urgent need for mitigation measures based on maintenance, repair and de-orbiting technologies. Our video presents a virtual reality framework in which robotic maintenance tasks of satellites can be simulated interactively. The two key components of this framework are a realistic virtual reality simulation and an immersive interaction...
This paper presents the identification of contact formations using force torque information. As force torque measurements do not map uniquely to their corresponding contact formations, three steps are performed: Initially, the wrench space for each contact formation is computed automatically. Then, a contact formation graph is augmented with a similarity index that reflects the similarity of contact...
This paper presents the graspability map, a novel approach to represent for a particular object the positions and orientations that a given mechanical hand can adopt to achieve a force closure precision grasp. The algorithm is based on the intersection between the fingertip workspaces and the object, plus the verification of a necessary condition for force closure grasps. The maps are computed offline...
This paper presents the graspability map, a novel approach to represent for a particular object the positions and orientations that a given mechanical hand can adopt to achieve a force closure precision grasp. The algorithm is based on the intersection between the fingertip workspaces and the object, plus the verification of a necessary condition for force closure grasps. The maps are computed offline...
Independent Contact Regions allow a robust finger placement on the object, despite of potential errors in finger position. They are computed without considering the kinematics of the end-effector, and are usually applied to off-line grasp planners. This paper presents an approach to obtain Reachable Independent Contact Regions by including the hand kinematics in the computational loop. The regions...
This article accompanies a video that presents a bimanual haptic device composed of two DLR/KUKA Light-Weight Robot (LWR) arms. The LWRs have similar dimensions to human arms, and can be operated in torque and position control mode at an update rate of 1 kHz. The two robots are mounted behind the user, such that the intersecting workspace of the robots and the human arms becomes maximal. In order...
This paper generalizes the Time Domain Passivity Control concept originally introduced by J.-H. Ryu et al. (2004) in order to work for multi-degree of freedom (DoF) haptic systems with time delay. Its energy computation (named passivity observer) factors in the phase shift caused by time delay, and is improved by an energy estimation. Moreover, the variable damping of the passivity controller is generalized...
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