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One of the greatest challenges in automated planning in industrial environments is to create the link between a real world scenario and symbolic representations that are used by a planner. In this paper we describe an approach to interface a planner with a close-to-reality simulation system. By using this approach, we move the problematic interface with a physical scenario to the simulation system,...
Neurosurgical procedures require precise and dexterous manipulation of a surgical suture in narrow and deep spaces in the brain. This is necessary for surgical tasks such as the anastomosis of microscopic blood vessels and dura mater suturing. A hand-held multi-degree of freedom (DOF) robotic forceps was developed to aid the performance of such difficult tasks. The diameter of the developed robotic...
The process of peg-in-hole insertion is the most typical problem in robotic assembly research. In this paper, a laser tracker based robotic assembly system is proposed for the insertion of large scale peg-hole type parts with heavy weight. A flexible end-effector with several claws, motivated by stepper motors, is designed to grasp the shaft part. Laser interferometry guidance methodology is utilized...
This paper proposes a novel gripper for power transmission lines inspection robot. The proposed gripper has advantage of obstacles avoidance. The whole weight of the robot could be supported by the grippers with ball bearings design. The passive rolling motion through ball bearings greatly reduces the friction force between the power transmission cable and the robot, with the result of having a less...
Minimally invasive Surgery (MIS) is one of the most challenging fields for robot designers due to the limited size of the access points, to the high miniaturization level and to the dexterity needed for performing surgical tasks. For this reason, the integration of actuators should proceed in parallel with the identification of the most effective transmission mechanisms and kinematics. Conversely,...
The AFM is a common tool for ultra-precise surface characterization and a standard instrument a variety of research and development disciplines. However, the characterization of three dimensional high-aspect ratio and sidewall structures remains a hardly accomplishable task. Novel exchangeable and customizable scanning probe tips — NanoBits — can be attached to standard AFM cantilevers offering unprecedented...
The need for combined task and motion planning in robotics is well understood. Solutions to this problem have typically relied on special purpose, integrated implementations of task planning and motion planning algorithms. We propose a new approach that uses off-the-shelf task planners and motion planners and makes no assumptions about their implementation. Doing so enables our approach to directly...
We have developed a highly functional untethered micro-robot that can manipulate cells with high gripping force in a micro-fluidic chip. The robot has gripping mechanism for grasping and transportation of cells with sufficient power. A permanent magnet is attached at the center of the gripping mechanism, and an electrical magnet controls the position of the magnet from the bottom of the micro-fluidic...
The logistics of counting, sorting, sterilizing, and transporting surgical instruments is labor and capital intensive. Furthermore, infection due to improper sterilization is a critical safety hazard. To address these problems, we have developed a unique robotic manipulation system that is capable of accurately singulating surgical instruments in a cluttered environment. Our solution is comprised...
In this paper, the design and experimental evaluation of a cable driven robotic gripper for underwater applications is presented. The gripper has three fingers and is characterised by a large workspace if compared with other similar devices reported in literature. Its kinematic configuration allows to execute both parallel and precision grasps on objects with very different dimensions. The gripper...
Learning from demonstrations is an intuitive way for instructing robots by non-experts. One challenge in learning from demonstrations is to infer what to imitate, especially when the robot only observes the teacher and does not have further knowledge about the demonstrated actions. In this paper, we present a novel approach to the problem of inferring what to imitate to successfully reproduce a manipulation...
Object handover is a basic task in many human-robot interactive scenarios and therefore, it is important for assistive robots to be able to perform proper handovers. We previously designed a human-inspired grip-force-varying handover controller for a robot giver and showed on a Willow Garage PR2 robot that the controller yields human-like and human-preferred handovers. The PR2 robot had a non-compliant...
Laparoscopic surgery (LS) has revolutionized traditional surgical techniques introducing minimally invasive procedures for diagnosis and local therapies. LSs have undeniable advantages, such as small patient incisions, reduced postoperative pain and faster recovery. On the other hand, restricted vision of the anatomical target, difficult handling of the surgical instruments, restricted mobility inside...
High flexibility and high speed is the goal for industrial manufacturing using robots. However, it is difficult to put them together due to the fact that they are contradicting with each other. To solve this problem, a new high reconfigurable gripper is proposed for robotic manipulator to improve its flexibility, so that the robot can accomplish an assembly task with shorter time. In this paper, the...
The flexible endoscope has great potential to reach a diseased organ through a natural opening of the human body to perform surgeries without leaving a scar on the body surface. Despite such advances in reaching the diseased organ, using the conventional flexible endoscope to complete surgical procedure is still largely constrained by the limited degree-of-freedoms (DOFs) of endoscopic instruments...
Gripping and holding of object is one of the most important tasks of any robotic gripper. In an industry there are various unfamiliar objects of varying shapes, sizes and geometry. Hence for a gripper to pick up such objects it is a challenging task. To overcome this problem we have used an Adaptive Gripper to carry out gripping and holding operations intuitively, being controlled through a Data hand...
Aiming at the rehabilitation robot joint, a novel worm drive consisting of a planar internal gear and a crown worm is presented. Theoretical calculation confirms that small induced principal curvatures, big sliding angles and large meshing area exist on the conjugate surfaces, indicating that the new worm drive is of smaller contact stress and better lubrication. A new machining method for crown worm...
The IEEE Robotics and Automation Society's (RAS) Ontologies for Robotics and Automation Working Group is dedicated to developing a knowledge representation for robotics and automation. As part of this working group, the Industrial Robots sub-group is tasked with studying industrial applications of the knowledge representation. One of the first areas of interest for this subgroup is the area of kit...
Click Fraud Bots pose a significant threat to the online economy. To-date efforts to filter bots have been geared towards identifiable useragent strings, as epitomized by the IAB's Robots and Spiders list. However bots designed to perpetrate malicious activity or fraud, are designed to avoid detection with these kinds of lists, and many use very sophisticated schemes for cloaking their activities...
Robot manipulation in unstructured environments depends on understanding the geometric and physical constraints that the environment imposes on the robot. While approaches like simultaneous localization and mapping (SLAM) allow robots to understand geometric constraints, the understanding of environmental physical manipulation constraints is largely unaddressed when exploring unstructured flexible...
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