The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
To enhance the robotic manipulation of deformable objects, a robust state estimator is proposed to track the object configuration in real time. A Gaussian mixture model (GMM) is constructed to register the object nodes towards the noisy point cloud. To deal with occlusion, the coherent point drift (CPD) regularization is applied on the mixture model, so as to maintain the topological structure from...
Dexterous manipulation has broad applications in assembly lines, warehouses and agriculture. To perform large-scale manipulation tasks for various objects, a multi-fingered robotic hand sometimes has to sequentially adjust its grasping gestures, i.e. the finger gaits, to address the workspace limits and guarantee the object stability. However, realizing finger gaits planning in dexterous manipulation...
Recent works of non-rigid registration have shown promising applications on tasks of deformable manipulation. Those approaches use thin plate spline-robust point matching (TPS-RPM) algorithm to regress a transformation function, which could generate a corresponding manipulation trajectory given a new pose/shape of the object. However, this method regards the object as a bunch of discrete and independent...
In the application of physical human-robot interaction (pHRI), the collaboration between human and robot can significantly improve the production efficiency through combination of the human's flexible intelligence and the robot's consistent performance. In this application, however, it is an important concern to ensure the safety of the human and the robot. In the human guidance programming scenario,...
Real-time object tracking for manipulators has been applied to industrial automation such as assembly and human robot collaboration. During the tracking process, the vision sensor is used as a feedback means to the robot controller. It means that the imperfect sensing and stability issues must be carefully considered. This paper deals with the modeling of sensor physics (e.g. limited sampling rate,...
In the past years, many methods have been developed for robotic peg-hole-insertion to automate the assembly process. However, many of them are based on the assumption that the peg and hole are well aligned before insertion starts. In practice, if there is a large pose(position/orientation) misalignment, the peg and hole may suffer from a three-point contact condition where the traditional assembly...
Precise motion control is desired in a variety of industrial robot applications. In order to achieve precise and rapid rest-to-rest motion, the overshoot and the residual vibration should be minimized. In this paper, a modified input shaping approach is developed to address these problems. The time delay introduced by conventional input shaping technique is fully compensated in the proposed approach...
Programming robotic assembly tasks usually requires delicate force tuning. In contrast, human may accomplish assembly tasks with much less time and fewer trials. It will be a great benefit if robots can learn the human inherent skill of force control and apply it autonomously. Recent works on Learning from Demonstration (LfD) have shown the possibility to teach robots by human demonstration. The basic...
Industrial robots are playing increasingly important roles in factories. Many production applications require both position and force control; however, tuning the positionforce controller is nontrivial. To simplify this process, the learning from demonstration (LfD) is proposed to transfer the human skills directly into robot applications. However, the current teaching methods, such as direct demonstration,...
In this paper, an optimized central pattern generator (CPG) network is proposed for humanoid walking control. The CPG controller targets three joints (hip, knee and ankle) of each leg including 4 degrees of freedom (DOFs). The connections for CPG units of related joints are simplified and optimized hierarchically. The total number of CPG parameters is greatly decreased in this way. Moreover, the genetic...
An exoskeleton system to assist hand rehabilitation exercise autonomously was introduced in this paper. A geared four-bar linkage mechanism was proposed as the main structure of the exoskeleton, and was verified by kinematic modeling, static analysis as well as finite element analysis. To determine the size of the exoskeleton, the optimization method was adopted, so as to improve the kinematic performance...
3D IC technology, an advanced IC package architecture, has drawn much interest in semi-conduct manufacturing. A 3-D integrated circuit is a chip in which two or more layers of active electronic components are integrated both vertically and horizontally into a single circuit. For this kind of package through silicon vias (TSVs) provide high wiring density interconnection, thus improve electrical performance...
We have developed a sensitive EIT protocol for detection of intraventricular bleeding. A common model of human neonates is the neonatal piglet. We used our method to test the sensitivity of our method and device to small amounts of blood-like fluid injected near the left and right ventricles of a piglet cadaver. Comparing blood-like fluid detection in open an closed piglet skulls, we found that we...
Through the wireless network, the important knowledge management is quickly acquired the right knowledge using mobile devices. It can be increased self belief and work efficiency. The recent years study show that perceived ease of use and perceived usefulness constructs of technology acceptance model have been considered important in determining the individuals' acceptance and use of IT. In this study,...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.