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The following topics are dealt with: robotics; biomimetics; microsystem; nanosystem; tactile sensors; mechatronics; path planning; rehabilation and wheelchair; laser image sensing and panoramic vision; human-machine interface; learning; visual servo and tracking; formation and SLAM; sensor networks; grasping; control and stability; modelling and task planning; manipulation; image processing; smart...
Based on the underactuated theory, a pneumatic underactuated bionic hand with five fingers is designed. Every finger of the hand is driven by a group of micro cylinders in parallel. The knuckle angle is totally decided by the shape of the grasped object. The expressions of the grab forces are stated after the static and kinematic calculations. The grasp patterns derived from force analysis show the...
This paper describes a development of bio-mimetic robot hands and its control scheme. Each robot hand has four under-actuated fingers, which are driven by two linear actuators coupled. According to the study of the human hand, it is noted that coupled muscles (flexor and extensor muscle) generate the finger motion. Each fingertip can reach toward objects by curved surface workspace in 3D-space. The...
This paper presents a novel design of a mobile underconstrained cable suspended robot. The paper deals with the kinematics, statics, motion planning and the design of an underconstrained cable suspended robot. The robot consists of four cable mechanisms and a central body. Each cable mechanism includes a thin cable with a simple gripper at the end, and a dispensing and rolling mechanism. The robot...
We propose a novel approach for robot movement imitation that is suitable for robotic arm movement in tasks such as reaching and grasping. This algorithm selects a previously observed path demonstrated by an agent and generates a path in a novel situation based on pairwise mapping of invariant feature locations present in both the demonstrated and the new scenes using minimum distortion and minimum...
The present study investigated the influence of obstacles that differed in size on a pick-and-place movement. The aim was to investigate movement constraints imposed by obstacle avoidance. The experimental results confirmed that different obstacles affected movement kinematics of the pick-and-place movement as did the direction in which the movement had to be performed. Temporal movement parameters...
This paper proposes a tendon driven system with antagonistic pairs of polyarticular tendons to simulate a variable stiffness of a human fingertip. The stiffness of a robot finger should be adjusted according to a situation that includes large position errors or collisions, because it tolerates errors of object positions and dimensions in assembly task and absorbs collision energy in hitting or catching...
We have previously shown that a hemispherical soft fingertip is in equilibrium when it is in contact with an object. The characteristics of the contact force and flexibility of a soft fingertip are important in stable grasping and manipulation. Hence, using these characteristics soft fingers can manipulate objects dexterously. We previously focused on a pair of 1-DOF fingers with soft fingertips....
In this research, we develop an interactive robot system for object manipulation, which uses interactive GUI for supporting robot operation to acquire target object such as book picking from bookshelf. Interactive functions of service robotic system are indispensability because robot has not enough capability in recognition and judgment even using many kinds of sensors. The developed system supports...
Many applications call for robots to perform the tasks that the robot can accurately grasp and assemble many kinds of industrial parts. Using robots to perform these tasks can afford human safety as well as the high productivity. In this paper, an industrial robot system aiming to assemble the industrial parts with high precision is presented. The paper focuses on the design of the robot control system...
Several practical issues associated with achieving effective impedance performance in the finger joint space and stable grasping on a five-fingered dexterous hand are investigated in this work. A Multiprocessor structure based on field programming gate array (FPGA) is proposed to realize the high-level hand impedance controller. The key feature of the hardware system is a dual-processor architecture...
This paper presents modular robots for grasping manipulation with locomotion capability. At the beginning, a brief overview on hyper-redundant and modular grasping approach is given. The innovations of this research lie in two points. Firstly, different grasping modes are integrated based on modular approach. Then manipulation capability of robotic arms and flexible locomotion mobility of mobile robots...
This paper presents a method for object shape recognition and the real-time grasping of unknown plane objects only using the positions information of robotic hand fingers. We aim to recover the shape, position and orientation of the grasped object by random five grasping points and the vision system in Cartesian space. A highly intelligent information fusion model which is combined with the expert...
We have developed a new model to simulate contact and rolling motion between two soft fingers and an object by using Finite Element and Constraint Stabilization Methods. This model is more efficient than the penalty method in connecting boundaries of objects through discrete models such as finite element models and particle models. We show the validity of this method through the simulation of grasping...
Because of great shock in the process of launching of rocket, structure deformation during work, displacement of sensors and other factors, the kinematic parameters of space manipulator will deviate from the parameters calibrated on the ground, which will decrease the positioning accuracy of space manipulator. Therefore, the space manipulator should be calibrated to ensure its positioning accuracy...
Grasping and handling delicate objects with robotic systems could be done by force closure method which needs a sophisticated control capable of providing stable grasping of the object with minimum possible normal force. It is a common practice among researchers to simplify dynamic of system by assumpssions such as permanent contact or incipient slip condition between object and gripper. Although...
Tracking control and active damping control was applied in space robot capturing a floating object. The grasping operation becomes quite complicated and important for the nonlinear characteristics, such as the dynamic coupling between the manipulator and the space base, the impact of grasping and so on while space robot captures a floating object. Firstly, the dynamic model of the space robot and...
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