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Key items in the development of a new smart robot generation are explained by hand of DLR’s recent activities in robotics research. These items are the design of multisensory gripper and articulated hands systems, ultra-light-weight links and joint drive systems with integrated joint torque control, learning and self-improvement of the dynamical behaviour, modelling the environment using sensorfusion,...
This paper introduces Japanese research program for experimental robotics. Part one describes an ongoing inter-university research program on intelligent robotics. The three year research program, supported by a grant from the Japanese Ministry of Education, aims to study mechanisms for the emergence of robotic intelligence and autonomy. Adopting a tightly-coupled sensor-action approach, this program...
A grasping strategy for enveloping column objects is presented. In enveloping a cylindrical object placed on a table, a multifingered robot hand can conveniently utilize the wedge effect, in which the object can be automatically lifted up through the slipping motion caused when each finger pushes the bottom part of the object[1],[2]. This paper further extends the strategy to general column objects...
The paper outlines DLR’s new 4-finger hand characterized by the fact that all 12 active joints (3 for each finger) are integrated into the fingers or the palm. With 112 sensors, around 1000 mechanical and around 1500 electrical components the new hand is one of the most complex robot hands ever built. Its key element is the „artificial muscle ®“ a small but powerful linear actuator, which seems to...
We have constructed a tactile shape display which can be used to convey small scale shape in teleoperation and virtual environments. A line of 10 pins spaced 2 mm on center are each actuated with a shape memory alloy wire. A combination of careful mechanical design and liquid cooling allows a simple proportional controller with constant current feed forward to achieve 40 Hz bandwidth. To quantify...
This paper deals with planning and executing large-scale reorientations of grasped planar objects using a three-fingered robot hand. We begin by presenting a method for planning a gait, a series of finger motions and regrasps, that can reorient any two-dimensional convex object by any desired amount. The implementation of these gait plans is then discussed, including the control algorithms that were...
This article addresses the development of a humanoid robot named Saika and skillful manipulations performed by Saika. The developed humanoid robot Saika has a two-DOF neck, dual five-DOF upper arms, a torso and a head which consists of two eyes and two ears. Saika has humansize dimension and weighs eight kilograms. This article also presents three kinds of manipulations performed by Saika: (1) hitting...
The goal of this work is to present the results of an experimental study of impedance control schemes for a robot manipulator in contact with the environment. Six-degree-of-freedom interaction tasks are considered which require the implementation of a spatial impedance described in terms of both its translational and its rotational part. Two representations of end-effector orientation are adopted;...
A skill development system which uses a pendulum model and kinematic redundancy to determine the torques of a 3 link system is discussed. This 3 link model performs an acrobatic motion called the kip. A kip pattern of a gymnast’s center of mass is optimized by using a variable length pendulum. We input the results of this model into the 3 link system and by using kinematic redundancy considering system...
In this paper, we consider virtual sports systems as a useful application of virtual reality. A force display device used in such an application has to possess abilities of high speed motions and a large motion area. To satisfy those abilities, parallel wire mechanism is adopted for this device. Through some basic experimental results, we demonstrate that this device is capable of high speed motions...
This paper integrates a general first-order kinematic model of rigid-body contact with the equations of motion of the manipulated objects and robot arms. The more general kinematic allows us to model tasks that cannot be described using the Raibert-Craig model; a single Cartesian frame in which directions are either force- or motion-controlled is not sufficient. The integration with the object and...
In this paper, we present a control algorithm for a mechanical system built from a six revolute joint robot manipulator mounted on a nonholonomic mobile platform. We describe a global control of this mechanical system which calculates the joint values for both the robot manipulator and the mobile platform. We want the end-effector location (position+orientation) to evolve between starting and final...
Recently the force-feedback has been recognized to be important for virtual reality systems, and many studies have been done in this field. Although we have proposed several methods for displaying the operating feel of a virtual object considering its dynamics in previous works, we have not paid much attention to cases of multiple objects or operators. In more advanced applications of haptic virtual...
This paper presents the preliminary results of the experimentation done at the University of Parma, and partially carried out as part of the Brite/Euram III Project Skill-MART, aiming at studying the use of digital simulation and haptic interaction for the purpose of analysing human skill and mapping it into a skilled robotics system.
The kinematics and force/displacement relationships of elements of biological joints are notoriously difficult to understand. In particular, the human knee has bearing surfaces of complex geometry that are connected by interacting sets of compliant tissues. It is proposed that knee motion and reaction forces can be usefully presented, during virtual manipulation of the joint, by simultaneous visual...
In this paper, we report a development of an autonomous mobile robot for long distance outdoor navigation in our university campus. We propose how to generate a long distance Perceived Route Map (PRM), a position-based navigation algorithm using PRM, and incremental integration of the robot system by multiple processors and multiple agents. Furthermore, we developed an experimental robot system and...
It is well understood in the robotics research community that an autonomous mobile robot which is physically tethered to extend battery power limits, harness more powerful computational resources, allow convenient monitoring of sensor and process components or to increase the pay load is, at best, just a laboratory curio since the tether renders the vehicle more or less useless in many real working...
This paper presents a system aimed at mobile robot operations in space: we discuss an interface which receives and analyzes images sent by a rover operating in a distant environment. We are particularly interested in long-duration space missions, where rovers interact with human operators on Earth. The position estimates are presented to the operator so as to increase situational awareness and prevent...
In this paper we describe a motion planner for a mobile robot on a natural terrain. This planner takes into account placement constraints of the robot on the terrain and landmark visibility. It is based on a two-step approach: during the first step, a global graph of subgoals is generated in order to guide the robot through the landmark visibility regions; the second step consists in planning local...
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