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Robotic teleoperation from a human operator's pose demonstrations provides an intuitive and effective means of control that has been made feasible by improvements in sensor technologies in recent years. However, the imprecision of low-cost depth cameras and the difficulty of calibrating a frame of reference for the operator introduce inefficiencies in this process when performing tasks that require...
It is important to enable a robot to manipulate a target object that has no 3-D model information and is situated in an environment with other unknown objects nearby. This poses an open problem of how to combine perception and manipulation to enable the robot to build an appearance-based model of the target object on the spot to facilitate further manipulation of the object while avoiding the other...
Traditional robotic surgical systems rely entirely on robotic arms to triangulate articulated instruments inside the human anatomy. This configuration can be ill-suited for working in tight spaces or during single access approaches, where little to no triangulation between the instrument shafts is possible. The control of these instruments is further obstructed by ergonomic issues: The presence of...
Nowadays, one of the largest environmental challenges that European countries must face consists in dealing with the past half century of nuclear waste. In order to optimize maintenance costs, nuclear waste must be sorted, segregated and stored according to its radiation level. Towards this end, in [1] we have recently proposed a visual-based shared control architecture meant to facilitate a human...
Object pose estimation is one of the crucial parts in vision-based object manipulation system using standard industrial robot manipulator, particularly in pose estimation of the end effector of the robot arm to grasp the object targeted. This paper presents the utilization of stereo vision system to estimate the 3D (3 dimensional) object position and orientation to pick up and place the object targeted...
Humans learn multisensory eye-hand coordination starting from infancy without supervision. For an example, they learn to track their hands by exploiting various sensory modalities, such as vision and proprioception. This integration occurs as they learn to perceive the world around them and their relationship to it. Most prior work has focused on the role of vision, as it is a primary sensory source...
For vision controlled manipulation with a robotic arm, knowledge of the camera to end effector transformation is important. This is typically done by classical hand-eye calibration, where a transformation is estimated by observing a known calibration object under different robot poses. The same holds for mobile bases as well, where the mounted cameras' poses with respect to the robot need to be known...
The objective of this paper is to design and implement a human replacement robot that consists of a mobile robot holding two 6-DOF manipulator arms and two wireless cameras mounted on moving plate attached on top of the robot. The human operator can control the robot wirelessly via wearable suit and virtual reality glasses. Moreover, the operator can control robot movement by special pedals placed...
NAO is a humanoid robot which is developed by Aldebaran robotics, a French robotic company having its headquarters in Paris. Various works related to monocular vision for hand eye coordination in NAO robot has been done which are explained in this paper. Camera calibration is done to determine parameters defining relationship between reference 3D coordinate system and camera coordinate frame, which...
Human supervisory control allows human operators to plan the movement of the remote machine by entering a series of commands as pre-defined positions. There are two possible kinds of response movements from executing this series of commands. This paper describes an experiment to test the performance of the two kinds of response movements under varied visual planning/feedback scenarios. By applying...
The space robotic system is expected to perform the on orbit servicing mission. It is a challenging task to estimate the pose of the non-cooperative spacecraft (no facilities are mounted onboard for relative pose measurement) during the phase of closing, capturing, and maintenance. In addition, the spacecraft with a high value is always very large, which pose difficulties for the cameras to photo...
We are developing an endoscopic manipulator control system based on eye tracking, which uses pupil variation to improve control performance. In this paper, we propose a new approach for the control of camera zoom for an endoscopic manipulator using pupil variation, which has not been previously attempted. Before using pupil variation for the zoom function, we observed how pupil variation was related...
Robots that are capable of offering high flexibility and high capability to solve the inherent system uncertainties, unknowns, and exceptions are increasingly demanded in assembly tasks. It requires the robot to perceive, detect and locate its operating target. In this paper, we propose an object-localization method using natural features with a monocular camera. The object-localization includes three...
The paper addresses kinematics analysis of a 4-DOF underwater manipulator, which can be installed on an Underwater Vehicle-Manipulator System (UVMS). First, the kinematic model of the manipulator is built. Next, the computation for the centers of weight and buoyancy is provided for the analysis of the coupling between the vehicle and the manipulator. Then the calibration including camera calibration...
This paper presents an effective approach for multi-task control of the underwater biomimetic vehicle-manipulator system. The main idea of this approach lies in organizing and combining the tasks by priorities, while decomposes the coupled relations among the tasks by null-space mapping consecutively avoiding interaction effects. A direct kinematic model is firstly built to describe the motions and...
Disaster response robot with four arms and flippers OCTOPUS has high mobility and task-execution capabilities. Owing to the higher number of degrees of freedom, OCTOPUS is controlled by two operators, however this kind of robots is inherently difficult to be operated. To design easy-to-use human machine interfaces and intelligent control systems, we need to analyze and quantify a reasonable operation...
Charging time and power transfer efficiency are the main issues of wireless power transfer for electric vehicle. It is proposed in this paper to resolve both of the issues using the concept of transformer induction. An autonomous robot arm equipped with several sensors is mounted to the vehicles undercarriage to carry the receiving coil and locate it at the right place which is into the transmitting...
This paper presents a low cost microwave system for medical diagnostics and treatment. The system consists of a wirelessly controlled automated data acquisition part using National Instrument (NI) MyRIO board and targets a portable microwave imaging (MWI) applications of the human body using a low cost robotic arm. The setup consists of a pair of Vivaldi antenna elements that act as transmitters and...
This paper is devoted to the performance optimization of an aerial manipulation system composed of a Flettner-helicopter and 7 DoF manipulator. With experiments we demonstrate that the time delays in signal propagation between perception and actuation modules play an important role for the overall performance of an aerial manipulator system using visual servoing. We present an approach for estimation...
There are no mechanical harvesters for the fresh market apple industry commercially available. The absence of automated harvesting technology is a critical problem because of rising production costs and increasing uncertainty about future labor availability. This paper presents the preliminary design of a robotic apple harvester. The approach adopted was to develop a low-cost, ‘undersensed’ system...
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