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We describe a hopping science payload solution designed to exploit the Moon's lower gravity to leap up to 20m above the surface. The entire solar-powered robot is compact enough to fit within a 10cm cube, whilst providing unique observation and mission capabilities by creating imagery during the hop. The LunaRoo concept is a proposed payload to fly onboard a Google Lunar XPrize entry. Its compact...
In highly automated and dynamic production systems the plant availability plays a crucial role, especially in terms of economic goals. In order to ensure a high system availability various maintenance strategies like preventive or predictive approaches are studied and applied. Through the increasing complexity of production systems, more and more methods for (semi-)automation of maintenance tasks...
The Virtual Space Robotics Test bed serves as a decision support system in various space mission scenarios mostly rendezvous and docking (RvD), planetary landing and exploration. It is used for the generation of virtual images which allow the test of camera systems that are not yet available as real hardware systems. It gives the engineer the opportunity to combine different optical systems e.g. Lenses...
The overall purpose of this project is to test the impact and potential benefits of Virtual Reality technology by creating a virtual simulator for the operation of the Mitsubishi Movemaster RV-M1 Robot.
The aim of this article is the simulation and the control of three degree of freedom robotic arms using brushless DC motors. The two arms are used to maintain the stability of the robot in presence of external disturbances. We used an analytical approach based on the inverse dynamic model to determine the necessary configurations of the arms to stabilize the robot. The control of robotic arm is achieved...
Originated from Robot World Cup Middle Size League (RoboCup MSL), this paper discusses the design and implementation of a robot soccer simulation system based on ROS and Gazebo. Its aim is to test multi-robot collaboration algorithms. After building the Gazebo models, a model plugin is written to realize the robot's basic motions including omnidirectional locomotion, ball-dribbling and ball-kicking...
Tools can afford similar functionality if they share some common geometrical features. Moreover, the effect that can be achieved with a tool depends as much on the action performed as on the way in which it is grasped. In the current paper we present a two step model for learning and predicting tool affordances which specifically tackles these issues. In the first place, we introduce Oriented Multi-Scale...
Data-driven methods have lead to advances in multiple fields including robotics. These methods however have had limited impact on dexterous hand manipulation, partly due to lack of rich and physically-consistent dataset as well as technology able to collect them. To fill this gap, we developed a virtual reality system combining real-time motion capture, physics simulation and stereoscopic visualization...
This paper describes the mechanical design of ESCHER, a series elastic humanoid developed to compete in the DARPA Robotics Challenge (DRC). The design methodology was informed by preliminary experimental results obtained using the THOR humanoid, a prototype platform developed for the DRC Trials, relying heavily on an accurate model of the torque-controlled robot in the Gazebo simulation environment...
In this position paper we propose the use of the Distributional Clauses Particle Filter in conjunction with a model-based 3D object tracking method in monocular camera sequences. We describe the model based object tracking method that is based on contour and edge features for 3D pose relative estimation. We also describe the application of the Distributional Clauses Particle Filter that takes into...
This paper describes a novel offline approach to estimate the parameters of a nonlinear system using the optimal control theory. In the conventional methods, only the output is considered in the identification process and the problem is stated as a nonlinear optimization problem. Nevertheless, the proposed method here is based on the least square error of both output and input. To do this, the problem...
Remote-control technology is required in an unmanned vehicle such that it can replace humans for executing tasks in various extreme environments. In particular, a remote scene must be reconstructed using 3D meshes for enabling a user to remotely control an unmanned vehicle easily and intuitively. To this end, a large amount of multiple sensor data would be processed using various algorithms in real...
This paper defines a model-based control hap tic guidance (MPC-HG) approach to improve the performance of a user in a minimally invasive surgery (MIS) training while performing a surgical related task. In this approach, a robot applies controlled forces on the hand of the user to guide him/her through an MIS training task according to an MIS reference model and desired set of motions. The main challenges...
Simulation is an important step of a robotics project. It helps saving time and resources during the project development phase reducing hardware requirements and field tests deployments. Through simulations it is possible to test algorithms in virtually any environment. As complex robots are usually manged by robotics frameworks, a framework-simulator integration is a powerful tool, which allows design...
We present a descriptor estimator for surface-based 3D input data for coarse localization of mobile robots. From the input pointclouds surfaces are reconstructed and simplified to detect stable keypoints which are used to evaluate rotation and translation invariant features. The invariance is achieved by transforming the triangulated input data into the frequency domain by Fourier transformation and...
The robotic servicing of satellites on-orbit will play an important role in extending their lifespan and mitigating space debris expansion. However, most maneuvers related to these goals present a set of unique challenges which are hard to assess in reality. On the other hand, a reliable prediction of the feasibility of servicing maneuvers is increasingly required. This paper presents a simulation-driven...
Today, laser manufacturers investigate and invest in automated assembly approaches in order to meet the high demands on flexibility, autonomy and efficiency and to counter competitive pressure. In the project “DeLas”, a consortium of manufacturers of micro-optical components and manufacturers of assembly equipment for micro-optical components came together with researchers in automation and robotics...
Automation in micro-optical assembly is an emergent, but steadily growing field of research. To advance the optics industry's efforts in this regard, several methods that aid optics engineers with development and deployment of assembly processes have been proposed. However, it is still a non-trivial and time-consuming task to design efficient work orders that consider movement characteristics of integrated...
Modern engineering design and simulation software (CAD, CAM, CAE) allow for extensive use of virtual prototypes along the product and production development reducing the cost and time of physical prototyping. These software technologies in turn has also important role in testing and verification against the various regulations. This paper reviews the recent progress of virtual verification (ViVer)...
This work presents a flexible system to reconstruct 3D models of objects captured with an RGB-D sensor. A major advantage of the method is that unlike other modelling tools, our reconstruction pipeline allows the user to acquire a full 3D model of the object. This is achieved by acquiring several partial 3D models in different sessions—each individual session presenting the object of interest in different...
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