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A challenge for automating mechanical assembly is that cumulative uncertainties typically exceed part clearances, which makes conventional position-based tactics unsuccessful. Force-based assembly strategies offer a potential solution, although such methods are still poorly understood and can be difficult to program. In this paper, we describe a force-based robotic assembly approach that uses fixed...
In this paper, assembly skills for dry battery insertion are analyzed with respect to the applied force control. First, force control parameters used in dry battery insertion are identified based on human demonstration data. The time series data of force control parameters are then modeled based on a hidden Markov model (HMM). By analyzing the obtained HMM, basic motions necessary for achieving the...
A biomimetic compensating controller designed to increase prosthetic hand grip force, based on wrist rotational acceleration, is developed and experimentally evaluated. Wrist acceleration can cause objects in grasp to slip. A sliding mode controller is implemented and experimentally evaluated for a prosthetic wrist rotator. Experimental results indicate that the biomimetic grip force compensation...
The paper firstly presents a mobile humanoid robot whose upper human-like body is rigidly mounted on the mobile platform with three wheels: two driving wheels and one caster wheel. The wheeled mobile platform moves on the ground subjected to nonholonomic constraints. Then the static equilibrium of the robot on a plane is discussed and tip-over stability of mobile humanoid robot moving on the slope...
This paper presents a method to generate motion from human motion for a humanoid robot with physical limits. The method focuses on representing constraints for angle, collision, velocity, and dynamic force as B-spline coefficients. The constraints can be applied for offline optimization and online filtering. For optimization, the objective function is responsible for mimicking human trainers, while...
In this paper, a novel approach to suppress vibration that causes brake noise is proposed employing a closed-loop feedback control method using an Active Force Control (AFC) based strategy. It is used in conjunction with the classic proportional-integral-derivative (PID) scheme that is typically incorporated in the outermost positional control loop. The idea is to introduce an active element that...
Space debris objects are generally tumbling in orbit, and so capturing and braking them involves complicated dynamical interactions between the object, the so-called ldquoremoverrdquo spacecraft, and its robot arm, with the possibility of strong loading occurring during the procedure. In this paper, the remover and its space debris capture strategy is described which proposes the application of joint...
An active body weight support (BWS) system, which unloads body weight with pelvic support, has been developed to assist the walking movement. This system unloads body weight with a motor-actuated device from below with pelvic support, unlike prevailing BWS systems that lift up the subject from above via a harness connected to a wire. The force control method to unload body weight has not been sufficiently...
There are lots of contact works with objects in works performed by manipulators. Moreover, the need of the surface contact works of polish, grinding, application, paint, inspection, etc., performed by manipulators is increasing rapidly in recent years. However, reports of studies of this kind of work are rare. This paper proposed a hybrid position, posture, force, and moment control for a six-degree-of-freedom...
Force compliant trajectory optimization is a term used here to describe a method of following an optimized path while interacting with an environment having only partial a priori knowledge. This can be used when the start and goal poses are fixed and what knowledge is available allows an initial path to be given. A robot traversing this path then senses the interaction force with the environment and...
To enhance the controller performance for the master-slave manipulator system which using a position feedback framework, in this paper, a hybrid adaptive Neuro-Fuzzy Model Reference is proposed. By feeding back the slave's position, the movement at the master may appear ldquosluggishrdquo especially during no-contact operation. The Neuro-Fuzzy control is applied to in position-position and position-position/force...
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