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.
In this work we present grasping movements recognition in 3D space. We also present the idea of a database of different sensors data for different scenarios of grasping and handling tasks for our future works. Multi-sensor information for grasp tasks require sensors calibration and synchronized data with timestamp that we start to develop to share with the researches of this area. In the scenario...
Multi-legged robots are very useful to do tasks in rough environment. A challenging task in their applications is to manage its walking balance. To analyze such a walking balance, we consider a simple model of quadruped robotic walking and try to identify the centroid of foot polygons formed in every step. Also, we propose a performance index to estimate the walking balance. Simulation studies show...
This paper presents a first step towards the design and development of the control system of an All-Terrain Mobile Robot. Different requirements are taken into account with the aim of setting up an experimental test-bed to support research on autonomous vehicles and on electronic devices to enhance the safety in presence of human riders. Since the vehicle should remain drivable, both the design of...
3D mapping using large planar patches results in a compact and easily understandable representation of the environment as compared to point-cloud or voxel based representations. In this work, relaxation of loop-closing errors in a 3D map is presented. It is based on a plane-matching algorithm for correspondence-finding and least-squares registration of large planar patches fitted on 3D range-images...
This paper proposes a novel control method for stable object grasping and orientation control using a dual-arm manipulator with multi-fingered hands. The control signal of the proposed method is simple but it can easily achieve stable grasping without external sensors and an orientation control of a grasped object. Firstly, holonomic constraints between a dual-arm manipulator with multi-fingered hands...
In this paper, a neural adaptive force control of a parallel robot is proposed to solve the trajectory tracking problems. Assuming that the dynamic model of the system is a black box one, we use an a priori learning for its neural identification. And then, we use this results to design and adaptive control law. All adaptation laws of neural parameters are based on the stability of the closed loop...
Engineering the software development process in robotics is one of the basic necessities towards industrial-strength service robotic systems. A major challenge is to make the step from code-driven to model-driven systems. This is essential to replace hand-crafted single-unit systems by systems composed out of components with explicitly stated properties. Furthermore, this fosters reuse by separating...
Understanding its environment remains a difficult problem for a mobile robot. Several intricate problems (localization, mapping, detection, tracking, classification) have indeed to be solved concurrently. However, most perception algorithms solve these issues independently leading to limited performances in highly changing environments. We present in this paper an original approach where the mapping,...
Several recent algorithms address simultaneous localization and mapping as a maximum likelihood problem. According to such formulation map estimation is achieved by finding the configuration that minimizes the error function associated to the constraint network representing the map. Almost all the proposed algorithms exploit iterative fixed-point techniques. Less attention has been paid to the evaluation...
Interacting with robots like service robots should be as natural as possible for humans. As a consequence, such robots should be equipped with a multimodal user interface, so that interaction can rely on the relevant modalities for a given task and a given context. Typically, a rather fixed combination of speech and graphical user interface is used both for input and output. To enable more flexibility...
This paper presents the design and development of a semi-autonomous low-cost underwater service robot for subsea flexible risers, used for supplying oil from the deep sea to the offshore platforms and floating production, storage and offloading vessels (FPSO). The robot is designed in a modular way allowing flexibility and variety in use. It can provide various types of services according to user...
Teleoperation systems have been extensively analyzed for transparency and stability previously. There has been, however, little focus on performance and stability constraints like the presence of sensor noise and its effect on the stability of the teleoperation system. The effect of sensor noise becomes all the more important in case of macro-micro world interactions and in applications like tele-haptic...
We present an initial demonstration of dexterous mobility using the uBot-5, a dynamically balancing mobile manipulator. Dexterous mobility refers generally to a level of bodily resourcefulness that permits the autonomous reassignment of effectors for the purpose of maintaining mobility in a variety of situations. We begin by describing a set of postural stability controllers in terms of a small number...
This paper deals with controller design issues for a neurosurgical teleoperator system. The specific application of interest consists in remotely inserting a linear-stage rigid endoscope into the patient's brain for microinvasive neurosurgery interventions. This work aims at evaluating the applicability of an existing general-purpose control architecture, addressing its advantages and drawbacks with...
This paper describes several methods proposed for RFID-based self-localization for a trolley robot executing motions and interacting with a User in a store: such a robot must know precisely its position so that it can guide the User until shelves where Products are put on display. The robot position is expressed as a vector (area; x; y; thetas), so that the localization is both topological (to determine...
Interestingly in different situations, human not only plans differently for approaching, accompanying, passing by and avoiding another person, but also smoothly maintains an appropriate distance. But for a mobile robot it is not trivial at all, while also maintaining its goal. In this paper we present a generic framework of mobile robot path planning for adapting social rules at different states of...
Spatial knowledge constitutes a fundamental component of the knowledge base of a cognitive, mobile agent. This paper introduces a rigorously defined framework for building a cognitive spatial map that permits high level reasoning about space along with robust navigation and localization. Our framework builds on the concepts of places and scenes expressed in terms of arbitrary, possibly complex features...
In more and more commercial scenarios, radio frequency identification (RFID) is used to tag assets on a large scale. These given tag infrastructures offer themselves for the navigation of autonomous transport vehicles and service robots. In this paper we investigate loop closure for graph-based simultaneous localization and mapping (SLAM) and trajectory estimation in environments with such dense RFID...
This paper addresses problems to achieve transparency and contact stability for single master multi-slave telemanipulation that consists of unconstrained and constrained motions. The adaptive bilateral control with a local force compensator is developed based on adaptive impedance control and contact force driven compensation with auto-switching functions. With a limited amount of knowledge about...
We present two approaches to modeling affordance relations between objects, actions and effects. The first approach we present focuses on a probabilistic approach which uses a voting function to learn which objects afford which types of grasps. We compare the success rate of this approach to a second approach which uses an ontological reasoning engine for learning affordances. Our second approach...
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.