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This paper gives an overview of the development of a novel biped walking machine. The robot is designed as an experimental system for studying biped locomotion based on torque controlled joints. As an underlying drive technology, the torque controlled joint units of the DLR-KUKA-Lightweight-Robot are employed. The relevant design choices for using this technology in a biped robot with integrated joint...
Safety issue has become the primary concern in wheelchair mounted robotic arm applications. We introduced mechanical gravity canceller in the design to realize a light weight manipulator, which also yield the greatly simplify of manipulator dynamics. Based on the simplified dynamics, sensor based contact detection can be easily implemented to enable safety. Contact reaction schemes are also applied...
Typical gripping systems for industrial robots have a predefined geometry which is suitable for only a specific part. The reutilization for other parts is restricted and associated with high effort for manual changeover. The presented paper shows a flexible gripping system with the possibility of self-adaptation to different workpieces. The adaptation is based on a robot-guided gripping system having...
In this work an interface based on inertial sensors with applications for unilateral master - slave robotic teleoperation is developed. In such tasks the interface with which the user interacts plays a key role. In general the interface should be comfortable and to allow free user motion. The interface here proposed is composed of two portable inertial sensor units which are placed on the upper and...
This paper presents an overview of the structure and requirements of a ground engineering model for a space remote manipulator system, with long arm and large torque driver capacity. The system consists of a 6 DOFs robot arm composed of six identical modular joints, and a large-error tolerated end effector. A FPGA based joint controller hardware structure is built to form a distributed control scheme...
This paper presents the design and validation of a wearable glove-based multi-finger motion capture device (SmartGlove) with a specific focus on the development of a new optical linear encoder (OLE). The OLE specially designed for this project has a compact size, light weight and low power consumption. The characterization tests also show that the OLE's digital output has good linearity and accuracy...
We present a novel combination of motion planning techniques to compute motion plans for robotic arms. We compute plans that move the arm as close as possible to the goal region using sampling-based planning and then switch to a trajectory optimization technique for the last few centimeters necessary to reach the goal region. This combination allows fast computation and safe execution of motion plans...
This paper introduces a Bayesian filter that is specifically designed for counting targets that move outside of the field of view while performing a sensor sweep. Information space concepts are used to dramatically reduce the filter complexity so that information is processed only when the shadow region (all points invisible to the sensors) changes combinatorially or targets pass in and out of view...
In this paper, a robust torque control method is proposed for a robot arm which is equipped with joint torque sensor. The proposed controller is used to control the joint torque and make it to be equal with the torque controller reference input torque. A flexible joint robot model will be introduced to model the robot arm system. The disturbance observer scheme is used to reduce the disturbance effects...
In robot-assisted surgery, haptic feedback is ongoing issue. The breaking of surgical suture material and the damage of tissue are avoidable with haptic feedback. This paper is proposing to add haptic feedback in the da Vinci like robot using unmodified da Vinci surgical instrument. To overcome the restriction of space and difficulty in measuring the force at the end-effector, the torque sensor-motor...
In this paper, we have attempted forearm movement tracking in 3-D by estimating joint angles of a forearm with an inertial measurement unit (IMU) consisting of a tri-axis accelerometer and gyroscope sensors. As the feedback of the forearm motion tracking, we have implemented a 3-D digital forearm model based on the kinematic chain theory utilizing super-quadric surfaces and joints, and attempted to...
For decades, insects have been a valuable source of inspiration for mechanical and control designs of legged robots. Anatomical and behavioral studies of insects such as cockroaches, stick insects and locusts have inspired the development of many robots. However, their control systems had to be engineered based upon behavioral studies and control hypotheses rather than neurobiology. Recent insect...
Successful long-term settlements on the Moon will need a supply of resources such as oxygen and water, yet the process of regularly transporting these resources from Earth would be prohibitively costly and dangerous. One alternative would be an approach using heterogeneous, autonomous robotic teams, which could collect and extract these resources from the surrounding environment (in-situ resource utilization...
This paper concerns the construction and function of a test foot with a passive toe joint. This was developed within the scope of the EU project ALEAR (artificial language evolution on autonomous robots) together with a test leg for the humanoid robot "M-Series" to test different function principles. In particular the sensor types are exemplified which are used in this foot. Further, the...
This paper describes a simulator which is used to study the motion plan of search and rescue robot on bumpy road. The simulator, written in C++, is composed of Newton physics engine system and OGRE based 3D environment. All libraries used are free and the program can be compiled cross-platforms. Virtual sensors such as camera and motor coded disc are developed. Behavior-based programming interface...
We presented our constraint-based programming approach, iTaSC, that formulates instantaneous sensor-based robot tasks as constraint sets, and subsequently solves a corresponding least-squares problem to obtain control set points, such as desired joint velocities or joint torques. This paper further extends this approach, (i) by explicitly supporting the inclusion of inequality constraints in the task...
We present a simple neuromorphic central pattern generators (CPG) circuit module, which is essentially a pair of coupled oscillators, to actuate a joint on a leg. This novel, reconfigurable CPG module is able to generate different motor patterns of different frequencies or duty cycles, simply by changing a few of circuit parameters. Three CPG modules, corresponding to three joints, can make an arthropod...
Signal patterns of high speed rotational arc sensor in gas metal arc welding (GMAW) have been studied. For V-groove butt joint, a geometry model of the weld bead profile and torch rotating has been developed. Welding current waveforms of both simulations and experiments have been analyzed. The welding current waveforms simulated based on the mathematical model are consistent with those captured in...
We propose a method for shape classification in continuous rotation manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Each tactile sensor can measure a pressure distribution once every 10(ms) while the robot hand rotates the object continuously. Our proposed classification method consists of the following processes: A kurtosis is calculated...
This paper proposes a strain-deformation expansion mechanism with flexure hinges for joint torque sensing. By the torque sensing mechanism, the small strain-deformation on a joint used for torque sensing can be expanded while the sensor stiffness will not be reduced but will be heightened. For the mechanism, a novel flexure hinge with two overlap semicircular notches, where there are no friction and...
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