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This work integrates robotics and electronic games with the objective of producing more motivating and attractive therapeutic activities in distal radius fracture rehabilitation (wrist region). The proposed robotic system allows the reliable measurement of all wrist angular motion amplitudes. To this end, a framework is proposed to allow the full integration of the designed game to the developed hardware...
In partnership with Automation Machine Design RC Inc. (AMD), Hydro-Québec developed a new robotic laser scanning system for the inspection of large underwater hydroelectric structures. The inspections are performed with a laser scanner that generates dense 3D maps globally localized. The diagnosis system went through several field trials in different facilities as it was being developed.
Concrete pipes are used in a variety of areas for conducting media underground (e.g. wastewater, cooling water, etc.) or for transportation purposes. Regular cleaning and inspection is required to ensure the static integrity of the pipe and to insure against the problems associated with failure of the pipe. In this paper, the SVM-RS system for cleaning and inspecting large concrete pipes will be presented...
This paper proposes a new computation method to solve semi-infinite optimization problems for motion planning of robotic systems. Usually, this problem is solved by means of time-grid discretization of the continuous constraints. Unfortunately, discretization may lead to unsafe motions since there is no guarantee of constraint satisfaction between time samples. First, we show that constraints such...
In recent years there was a tremendous progress in robotic systems, and however also increased expectations: A robot should be easy to program and reliable in task execution. Learning from Demonstration (LfD) offers a very promising alternative to classical engineering approaches. LfD is a very natural way for humans to interact with robots and will be an essential part of future service robots. In...
In this paper, we report on our development of a robotic system that assists people in accomplishing simple tasks in daily life (e.g., retrieving objects for handicapped and elderly people). These tasks, inevitably involve detecting various kinds of objects. In particular, here, we present an interactive method to detect objects using spatial information. Our experimental results confirm the usefulness...
The overall performance of a robotic system is commonly expressed by a single scenario-specific metric which is supposed to be optimized. However, the metric describing the performance of a single subtask within a scenario may be different. Nevertheless, the scenario performance is most likely dependent on the subtask performances but a mutual transformation is not straightforward in general, especially...
This paper presents a semi-automatic robotic system supporting a surgeon in the harvesting of the internal mammary artery (IMA) for an open chested intervention in coronary revascularisation surgery. The versatile surgical lightweight robot MIRO developed at DLR (German Aerospace Center) is used to detect and mark the path of the IMA at the inner side of the thoracic wall. The robot is equipped with...
While a robot control framework generally focuses on real-time performance and efficient data exchange between cooperating tasks or processes, an application such as robot-assisted surgery often demands information from, and integration with, a number of other devices. Thus, the software framework for the integrated system may have different requirements and priorities than a framework for real-time...
Robotic systems such as exoskeletons can be effectively used in the reduction of fatigue and musculoskeletal disorders (MSD) associated with physical tasks, but robots which work in physical contact with humans pose problems with user safety. A novel approach to developing intrinsically safe robots is to use passive actuators which have the advantage of being safer, ensuring stability, high force/weight...
Trajectory generation consists in computing a feasible trajectory between a start and a goal state-time, for a given robotic system. We presented in our previous works a trajectory generator called Tiji, geared towards complex dynamic systems subject to differential constraints. Moreover, it is able to handle a final time constraint, ie an interval of time during which the goal state must be reached,...
This paper proposes a new 4-Degree-of-Freedom (DOF) master-slave system for 3 dimensional needle steering. Both master and slave devices are commonly composed of a 3 DOF spherical type parallel mechanism and a 1 DOF needle insertion mechanism. This system provides users with 3 dimensional needle steering and force reflection capabilities. The real time forward solution of the master device is addressed...
This paper describes a new action selection mechanism that allows the robot controller to dynamically determine which goals (tasks) are most applicable in the current state of the environment. This allows the robotic controller to resolve conflicting goals that arise, allow multiple non-conflicting goals to run simultaneously, and dynamically switch to a new goal if the target for the goal has been...
Lovotics is a novel field of research that strives to achieve a close relationship between humans and robots by utilizing fundamental concepts from psychology, biology, neuroscience, and robotics to develop a model that effectively imitates human affection process to create an emotionally engaging robotic system with high level of intimacy. We have designed and developed a robotics system that is...
Automated model generation and solution for motion planning and re-planning of automated systems will play an important role in the future of reconfigurable manufacturing systems. Multi-DOF kinematic structure was generated for any combination of either rotational or translational type of joints, using a novel methodology presented in this paper. This model is named n-DOF Global Kinematic Model (n-GKM)...
The following topics are dealt with: nonlinear control system; robotic system; intelligent control system; robust control; adaptive control; learning; signal processing; algebras; hybrid control systems; scheduling problems; fault detection; fault diagnosis and linear control system.
This paper reports on a developmental approach to the learning of communication in embodied agents, taking inspiration from child development and recent advances in the understanding of the mirror neuron system within the brain. We describe a part of the ROSSI project which focuses upon gestural communication in the form of pointing. We are examining the idea that pointing may be a key step towards...
A new modelling method of image Jacobian estimation is presented for uncalibrated visual servoing of robots, in which a support vector regression (SVR) technique is used for non-linear mapping between target image features and robot joint angles, and an image Jacobian expression is derived from the SVR equation with Gaussian kernel. The experiments of robot visual servoing with both eye-in-hand and...
GPU hardware architectures have evolved into a suitable platform for the hardware acceleration of complex computing tasks. Stereo vision is one such task where acceleration is desirable for robotic and automotive systems. Much research was invested in developing stereo vision algorithms with increased quality, but real-time implementations are still lacking. In this work we focus on creating a real-time...
The paper presents the construction of a rolling robot able to move in the horizontal plane due to an original structure of a regular dodecahedron shape with twelve extending legs disposed in a radial manner in the centers of its faces. A mathematical model is developed and the robot functioning is simulated. Simulation results were validated by preliminary testing. A control algorithm developed by...
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