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This paper presents the point-tracking strategy of master-slave robotic catheter intervention, which integrates with the distal/proximal and virtual force. First, the mapping between the motion space of master handle and the space of vascular model is built up. Second, the close-loop control based on the inverse kinematics is developed with the compensation of backlash. Third, proximal force, distal...
This paper proposes a global navigation strategy for autonomous vehicle combining sensor based control and digital maps information. In order to avoid localization problems in urban environments, this approach intends to solve the global navigation focusing on two local navigation tasks: road lane following and road intersection maneuvers. For that, it is important to use digital maps, once they provide...
This paper proposes a new method of linear inverted pendulum control, which is used to control the quadruped robot walking on regular uneven terrain such as ramp and stair, furthermore, this method can be applied to a more rugged terrain. This paper analyzes the dynamic parameters of a quadruped robot walking on the complex terrain, which means the supporting points of the robot lie in different heights...
Compliant-motion control implementation on a humanoid robot with electrohydraulic joints is presented. Characterization results are shown, leading to a dynamic model used in feedback. A Natural Admittance Controller is designed, and its performance is demonstrated in demanding manipulation tasks, including dual-arm palmar manipulation of an egg and dual-arm valve turning.
This paper mainly introduces a kind of auxiliary robot for craniofacial plastic surgery. It contains mechanism design of the robot, the design of the control system, and experimental verification in order to prove the effectiveness of drilling bone. The robot make use of the stability and accuracy of the motor movement, combining with the 2D/3D imaging techniques, through the pressure sensor, position...
Series elastic actuation (SEA) has been widely used for output force/torque regulation, however, the nonlinearity introduced by its torsion spring hysteresis will greatly affect the quality of feedback control. Thus an experimental procedure is conducted for the modeling and identification of spring hysteresis effect, based on which a compensated control scheme is given. Experiment results show that...
Recently, the control of telepresence robots is still a challenge for researchers. In this paper, we propose a method to realize a more natural assisted navigation for telepresence robots during teleoperation. Different from existing approaches, the proposed method utilizes an omni-directional chassis which is realized by a three wheels drive (3WD) mechanism. Without using any expensive 3D sensing...
In this paper we propose a service system composed of small robots. These robots are able to do tasks executed by a single human in environments like homes or offices. The goal is that a user will be capable of teaching multiple small robots how to perform tasks. We use kinematic data during the teaching process like the motion and force applied by the hands of the subject during task execution. Based...
This paper presents a means to approximate an object's pose, suitable for initialization of the Iterative Closest Point algorithm. The class of problems considered is objects lying stably on a planar surface, for which a relatively small number of pose types are possible. Within each pose type, the registration problem is reduced to 3 dimensions. Using contours computed from horizontal slices, it...
This paper presents a cooperative, dynamic and complete information game scheme for socially multi-robot tracking. The concept of ‘variable order’ is introduced to specify the order of trackers' movement. A free competition model for multi-robot system is proposed to compute member robot's trajectory. A set of cost function are derived to evaluate the performance of tracking strategies optimally....
The ability to navigate in complex environments is crucial for both animals and mobile robots. Most mobile robots adopt dead reckoning for navigation because of its high efficiency and low cost. In order to use this navigation mechanism, both distance information and directional information must be available. In this research, a real-time three-channel camera-based polarization navigation sensor is...
This paper presents the development and implementation of Robee, a novel social behavior controller for robots with a focus on Human-Robot Interaction (HRI) studies. Using the homeostatic drive theory, Robee selects the behaviors in order to maintain the needs, mainly psychological and social, within an acceptable range. We propose a hybrid concept for the decision making process, which combines the...
In recent years, service robots are required to execute various tasks in a human-coexistence environment. These robots should be designed not to induce discomfort and aversion in people who use them. To realize this, we focus on the design method for the service robot which runs around in a public space. These service robots should avoid giving a negative impression to these people. Thus, in this...
This paper proposes a scheme for manipulating the posture angle of a passive object using an active plate. The scheme was evaluated on a rigid spherical object called a tumble doll. During the test, the object and active plate were subjected to cyclic movements. The object angle and angular velocity were combined into a state vector, and the cyclic motion was expressed as a nonlinear discrete system...
In this paper, we present a self-deployment strategy for a swarm of robots that is capable of exploring and identifying victims in an unknown structured building environment while preserving a global network interConnectivity for information exchange. The strategy are conducted in two phases: self-displacement shifting the robotic swarm from room to room, and self-dispersion and aggregation for exploration...
The traditional six-dimensional force/torque sensor calibration method requires a lot of precision loading force and can only be off-line calibration. In this paper, to solve the problem, an online calibration and decoupling method based on the shape from motion combined with complex algorithm is proposed. It does not require accurate and redundant loading force information, and have better noise...
Many corporations have produced various teach pendants. However, most of these products are exclusive in terms of communication protocols and robot programming languages. Therefore, programs and teach pendant are usually not exchangeable between robots. To tackle this problem, we present U-Pendant, an open source universal teach pendant for serial robots based on Robot Operating System (ROS), a meta-operating...
Dexterous hand and arm function are crucial for execution of activities of daily living (ADLs). However, it remains difficult for patients with neurological deficits, such as stroke, to recover the lost function. In this paper, a versatile haptic interface, omega. 7, has been employed to interact with the patient to perform designed dexterous manipulation tasks. Following the neurocognitive approach,...
Human robot cooperation is a challenging task of future generation home robots and is relevant also for industrial applications, where robots are supposed to act together with humans in non-structured environments. The paper focuses on on-line adaptation of robot trajectories, where robots and humans are autonomous agents coupled only through the manipulated object. Within the proposed approach, the...
Most robot semantic mapping methods only consider the intrinsic properties of landmarks and objects inside a scene, by detecting them with their appearances, and some other methods include extrinsic properties with manually designed object relations. In this work, we use relational operators to capture the extrinsic property values, and adopt conditional random field to integrate intrinsic and extrinsic...
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