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This paper addresses the macro-micro configuration of a mobile manipulation problem for a forklift; specifically, it investigates pallet picking with visual feedback. A manipulator with limited degrees of freedom and differential constraint mobility, together with the large dimensions of the machine, requires reliable visual feedback (pallet pose) and navigation from relatively large distances. It...
A high speed image based visual servoing (VS) technique is developed in this study for a Selective Compliant Assembly Robotic Arm (SCARA) manipulator with rotary hydraulic actuators. This study has developed a 2D position measuring system which comprise a high speed camera with a position sensitive detector as the image sensor. The input output interface and the controller for the VS system was implemented...
A method to autonomously control multiple environmental cameras, which are currently fixed, for providing more adaptive visual information suited to the work situation for advanced unmanned construction is proposed. Situations in which the yaw, pitch, and zoom of cameras should be controlled were analyzed and imaging objects including the machine, manipulator, and end-point and imaging modes including...
In this paper we present a novel approach for intuitive telemanipulation in Cartesian space and discuss the results of a user study evaluating different aspects of our approach. The proposed method inhibits certain degrees of freedom based on the current viewpoint. Together with automatic mapping of the input device to corresponding motion axes, our approach provides a very intuitive method for controlling...
Intervention autonomous underwater vehicles (I-AUVs) are a promising platform to perform intervention task in underwater environments, replacing current methods like remotely operate underwater vehicles (ROVs) and manned sub-mersibles that are more expensive. This article proposes a complete system including all the necessary elements to perform a valve turning task using an I-AUV. The knowledge of...
This research is aimed at identifying a minimal set of shared control behaviors that would optimize the execution of high-level tasks in terms of robot capabilities and operator engagement in sample return missions. Previous robotic missions to the Moon and Mars, such as Mars Science Laboratory, have relied on supervised autonomy and teleoperation with latency mission scenarios. While this has proven...
This paper addresses a visual servoing problem for a mobile manipulator. Specifically, it investigates pallet picking by using visual feedback using a fork lift truck. A manipulator with limited degrees of freedom and differential constraint mobility together with large dimensions of the machine require reliable visual feedback (pallet pose) from relatively large distances. To address this challenge,...
This report gives a short overview about an inspection test taken by two different ways of tele-operating a manipulator. The first type of control is a joystick control which provides two different operation modes:1) joint-by-joint control and 2) controlling the tool center point. This joystick control is commercially available and, thus, tested in various environments and used in real applications...
In this paper an image-based visual-servoing control law for the coordinated landing of a VToL UAV on an actuated landing platform is proposed. The landing platform is carried by a mobile manipulator composed of a mobile platform and a robotic arm. The UAV is endowed with a downward camera employed for the coordination of the landing manoeuvres. The presence of redundancy in the system at the task...
We improved a system that enhances the ability of an operator to pinpoint a sound source by extending its application to a three-dimensional environment and installed it in a rescue manipulator that we developed previously. Experiments were conducted using an imitation rubble, and the results showed that an operator could use the system to locate the sound source in a three-dimensional environment...
Remote control robots are being found in an increasing number of application domains, including search and rescue, exploration, and reconnaissance. There is a large body of HRI research that investigates interface design for remote navigation, control, and sensor monitoring, while aiming for interface enhancements that benefit the remote operator such as improving ease of use, reducing operator mental...
The design method of intelligent assembly system Based on machine vision is raised in order to solve the problem of the low accuracy, poor consistency and low efficiency when pasting strain gauge manually. The problem of accuracy and consistency will be solved for affixing strain gauge by the methods of setting centering and target-seeking camera. The working efficiency of the system is improved by...
A method for uncertain plane surface tracing Based on vision and force sensing is proposed. A stereo vision system is employed to estimate the normal direction of the plane surface and to control the end-effector's motions which are parallel to the plane surface. A force sensor is used to acquire the contact force information between the end-effector and the environment and to control the end-effector's...
This paper proposes model-based compliant motion control scheme for assembly tasks using vision and force information. Many problems, especially assembly tasks, could be solved by integrating visual servoing and impedance control with model-based compliant motion design, in which the coordinate frame of the impedance control is attached to the model of assembled object. To implement the model-based...
As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize safe assist by real time feedback control based on the fused information from a high speed tactile sensor and a 3D range camera. The algorithm for posture estimation of human using a 3D range camera and initial experimental results...
This paper reports automated image-based pick and place procedures for manipulation of individual natural fibers. The developed procedures are part of an effort to develop a fully automated microrobotic-based platform for fiber characterization. The presented procedures are divided into unit operations, which can reused in multiple tasks that the platform must perform. Two different demonstrations:...
AUVs have experimentally done the first steps to solve basic intervention tasks. First results have been promising in the task of retrieving an object from the seabed. In this paper we extend the complexity of the task with the help of a Learning by Demonstration (LbD) approach. An extension of a LbD algorithm to learn the pose and orientation of the trajectory is presented to achieve a valve turning...
Reliable object recognition is a mandatory prerequisite for Service Robots in everyday environments. Typical approaches for object recognition use single algorithms or features. However, none is yet able to classify across all types of objects and the field of object recognition is thus still an open challenge.
Minimally invasive surgery assisted by robots is characterized by the restriction of feasible motions of the manipulator link constrained to move through the entry port to the patient's body. In particular, the link is only allowed to translate along its axis and rotate about the entry point. This requires constraining the manipulator motion with respect to a point known as Remote Center of Motion...
We address the problem of incorporating path planning with image-based control of a wheeled mobile manipulator (WMM) performing visually-guided tasks in complex environments. TheWMMconsists of a wheeled (non-holonomic) mobile platform and an on-board robotic arm equipped with a camera mounted at its end-effector. The visually-guided task is to move the WMM from an initial to a desired location while...
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