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Most position/force control schemes assume that the contact surface is exactly known. In the presence of constraint uncertainties these controllers cannot ensure convergence to zero of position and force errors. In this work, an adaptive scheme is proposed for robot manipulators that perform interaction tasks with a rigid surface. The proposed algorithm takes into account uncertainties in robot and...
The paper presents an outline of the specification of a robot controller used in manipulation tasks requiring object grasping by a multi-fingered gripper and interaction with the environment. The specification assumes that the robot is represented as an embodied agent composed of real and virtual effectors and receptors and the control subsystem. The actions of those subsystems are defined by finite...
This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion/force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of freedom of the end-effector of the manipulator. Therefore, the focus is on this contact degree of freedom, and a switching position-force controller is proposed...
This paper investigates the control of a single degree of freedom flexible cable-driven parallel manipulator (CDPM) with a focus on maintaining positive cable tensions. A control architecture that uses a particular saturation prevention function is used to force the control torques to remain within limits that maintain positive cable tensions. The maximum and minimum allowable control torque limits...
Robotic manipulators that use joystick interfaces for telemanipulation take time and effort to master and lack an intuitive basis for human robot interaction. These factors can hamper operator performance, increase cognitive workload, and limit overall user effectiveness on highly dexterous tasks. Master-slave interfaces (MSIs) used in the fields of animatronics, telesurgery, and hazardous materials...
Pseudo haptic sensation is an illusion based on visual stimuli. In virtual environments the principle of pseudo haptic feedback is used to simulate material properties such as stiffness, mass and friction. Transfering the principle of pseudo haptic feedback to real haptic teleoperation systems can provide a haptic sensation for properties of material, manipulated without active haptic feedback. Hence,...
During robot-assisted minimally invasive surgery, surgeons perform challenging dexterous tasks, including the manipulation of soft tissue and suture tying. In the absence of environment force sensing of tool-tissue interaction forces to provide force feedback, surgeons must rely on visual feedback to modulate the grip force they apply on the environment. Clinical systems, like the da Vinci Surgical...
The problem of improving the stability of a mobile manipulator over a sloped terrain is addressed in the present work. Such an improvement is achieved by finding the location of the manipulator's center of mass that maximizes the overall quasi-static stability, defined here as the force-angle stability, using a stochastic optimization approach known as the Covariance Matrix Adaptation. The tracking...
Origami-engineering is an emerging design and manufacturing technology for creating 3-D robotic systems using 2-D designs. We present a new origami-inspired tele-micromanipulation system manufactured by printing and folding. The developed micromanipulation system consists of two miniature machines, wearable user interface devices and a multi degree-of-freedom slave manipulator. A simple hydraulic...
MRI compatibility, which often is a requirement for the new medical soft robot projects, greatly reduces available actuation methods and sensors. An example of such project is STIFF-FLOP, which aims to develop a soft silicone manipulator actuated by pressure. The current arm construction and method of actuation cause several undesirable effects, which pose problems for actuation and sensing. In this...
This paper describes a control method for noncyclic swing motions such as throwing, hitting and kicking in multiple-joint robots by using “time reversal integral.” This method calculates a control input sequence and an initial posture of the robot to reach a designated terminal state by integrating a dynamic system without directly designating trajectories. The terminal end-tip speed is maximized...
Random sampling-based methods for motion planning of constrained robot manipulators have been widely studied in recent years. The main problem to deal with is the lack of an explicit parametrization of the non linear submanifold in the Configuration Space (CS) imposed by the constraints in the system. Most of the proposed planning methods use projections to generate valid configurations of the system...
This paper considers how a multi-limbed robot can carry out manipulation tasks involving simultaneous and compatible end-effector velocity and force goals, while also maintaining quasi-static stance stability. The formulation marries a local optimization process with an assumption of a compliant model of the environment. For purposes of illustration, we first develop the formulation for a single fixed...
Development of intuitive user interface of a dexterous forceps with wrist joint for minimally-invasive surgery (MIS) is important for reducing the surgeon's confusion and fatigue. In this paper, a wearable robotic forceps manipulator is proposed. By measuring the wrist attitude of the surgeon by a motion sensor and driving the forceps tip by actuators, intuitive operation is realized, compared with...
System identification is an important tool to investigate human motion control. The goal of this study was to identify and address issues in system identification for human motor control and to investigate if linear time invariant system identification techniques are applicable to recorded mechanical and physiological data. During a posture maintenance experiment subjects had to minimize the deviations...
This paper presents an aerial robot with a manipulator to implement door opening mission. Although general aerial robots have advantages of flying in the three-dimensional space freely, they don't have any capability of moving to another room when the door is closed. To overcome this problem, we propose a new configuration of an aerial manipulator with perching function, knob-twisting function, and...
We propose a novel whole-body multi-modal semiautonomous teleoperation framework for mobile manipulator systems, which consists of: 1) Motion capture and whole-body motion mapping to allow the operator to intuitively teleoperate the mobile manipulator without being constrained by the master interface while also fully exploiting whole-body dexterity; 2) Slave robot autonomous control to allow the mobile...
When a person interacts with an environment using a tool, he/she receives tactile information in the form of fingerpad skin deformation. Different interaction forces and torques on the tool cause different skin deformation patterns on the fingerpads. We designed a 6-degree-of-freedom tactile device that creates similar skin deformation patterns on the fingerpads. The device communicates force and...
This paper reports a 30 mm × 30 mm × 34 mm mini-scale parallel manipulator using shape-memory-alloy (SMA) microactuators that poses various advantages such as a large actuation force and a high robustness with a simple mechanical structure. The developed parallel manipulator that uses four SMA actuators and four bias springs is able to perform linear z-axis movement and tilting motions. Each actuator...
In this paper, the robust control strategy, super-twisting algorithm, is applied on the hydraulic actuator of the 6 degree-of-freedom (DOF) parallel manipulator, so-called Stewart platform. The second order sliding mode algorithm is often used to design controllers for the properties of robustness and chattering-free. In the control issues of hydraulic actuators, the perturbations such as friction...
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