Download or read book A Real time Human perception Interface for Task level Control of a Robot in Unfamiliar Environments written by Eric S. Miles and published by . This book was released on 1997 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 956 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Dissertation Abstracts International written by and published by . This book was released on 2008 with total page 1006 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robust Robotic Manipulation for Effective Multi contact and Safe Physical Interactions written by Mikael Daniel Gabriel Jorda and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots are complex systems, at the intersection of numerous engineering domains. The goal of many researchers is to build a fully capable and safe robot that can work and assist humans in their daily lives. To reach these goals, the complex robotic systems must be separated in different subsystem components such as perception, world understanding, navigation, manipulation, interfaces and interaction. These subsystems need to be safe and robust in order to synergistically work together. In particular, a reliable and general robot manipulation framework for free space and contact tasks is required for robots to become useful in new environments. In this thesis, we aim at developing a theoretical and practical foundation for safe and robust robotic manipulation, involving multiple simultaneous physical interactions with complex and unknown environments. We start with the well known operational space control framework: a task-oriented control methodology that enables task dynamic decoupling and hierarchical control structures. After reviewing the operational space control theory for controlling a robot task and posture, we present a series of practical considerations for its robust implementation on real hardware platforms. The integration in this framework of constraints such as joint limits and obstacles is then discussed, and a method to react safely to unexpected contacts on the robot structure during operations is proposed. These constraints are handled as control objectives in the control hierarchy, using artificial potential fields to generate repulsive forces and dynamically consistent projections to ensure an independent control of the constraints and task objectives. This systematic treatment of constraints at the control level enables a robust, autonomous execution of complex tasks in changing environments. This framework was extended over the years to consider underactuated robots in arbitrary contact situations. This resulted in a comprehensive formulation to the problem of controlling a high-dimensional robotic system involving complex tasks subject to various constraints, obstacles, balance and multiple contacts. Contacts are essential for robot manipulation. On the one hand, parts of the robot tasks involve physical interactions that need to be controlled precisely. On the other hand, further contacts are required on underactuated systems in order to enable the robot motion and guarantee its balance. In addition, contacts between the robot and the environment are subject to geometric and friction constraints that need to be addressed by the control framework. Therefore, in this thesis, the operational space whole-body control framework is completed to enable a systematic treatment of multi-contact scenarios. A virtual linkage model separates the contact forces into three sets. The resultant forces allow the robot to compensate for its underactuation. The task contact forces are controlled to their desired values. The internal forces provide a way to satisfy geometric and friction constraints. A method using barrier functions is proposed to specify a set of internal forces that ensure the robot's balance and contact stability. Even when the desired contact forces are correctly specified, their control remains a challenge. Indeed, the fast and discontinuous closed loop dynamics of stiff physical interactions leads to instabilities in robot force control. Therefore, we adapt a time domain passivity approach to guarantee the stability of explicit force controllers. This results in an increased robustness and safety for robotic systems in multiple contact scenarios. To develop effective interfaces for human-robot collaboration, we also study haptic robot teleoperation. Haptic devices provide an intuitive interface to remotely control robots and combine the high-level cognitive autonomy of humans with the autonomous manipulation capabilities of robots. The goal of haptic robot control is to maximize the transparency between the human operator and the robot environment. It means that the robot environment should be felt by the human as if they were directly interacting with it, and the human commands should be executed precisely by the robot. Transparency is very challenging to achieve when communication delays are present in the system, which occurs systematically when there is a significant physical distance between the controlled robot and its human operator. To address this challenge, we propose a new paradigm for performing haptic-robot control. Instead of relying on a global feedback loop, the new method establishes two autonomous controllers acting on the robot and the haptic device, interfaced via a dual-proxy model. The dual-proxy is a bridge between the local controllers. It generates appropriate motion and force inputs that are consistent with the task physical interactions. The model relies on the exchange of position, contact, and environment geometry information, avoiding the limitations caused by a direct force feedback between robot and haptic device in conventional teleoperation. To estimate the environment contact geometry in real-time, we also design a new perception algorithm that enables a fully autonomous implementation of the dual-proxy model. The performance of all the control methods presented in this thesis are evaluated via simulations and hardware experimental validation. Combining these methods together results in a robust, safe and generic manipulation control framework for complex robots in interaction with uncertain environments. Such framework is one of the key components for a complete and fully capable robotic system.
Download or read book Robotics for Challenging Environments written by ASCE Specialty Conference on Robotics for Challenging Environments and published by . This book was released on 1996 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Virtual Reality written by National Research Council and published by National Academies Press. This book was released on 1995-01-13 with total page 557 pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite widespread interest in virtual reality, research and development efforts in synthetic environments (SE)â€"the field encompassing virtual environments, teleoperation, and hybridsâ€"have remained fragmented. Virtual Reality is the first integrated treatment of the topic, presenting current knowledge along with thought-provoking vignettes about a future where SE is commonplace. This volume discusses all aspects of creating a system that will allow human operators to see, hear, smell, taste, move about, give commands, respond to conditions, and manipulate objects effectively in a real or virtual environment. The committee of computer scientists, engineers, and psychologists on the leading edge of SE development explores the potential applications of SE in the areas of manufacturing, medicine, education, training, scientific visualization, and teleoperation in hazardous environments. The committee also offers recommendations for development of improved SE technology, needed studies of human behavior and evaluation of SE systems, and government policy and infrastructure.
Download or read book Intelligent Robotic Systems written by Spyros G. Tzafestas and published by CRC Press. This book was released on 2020-08-26 with total page 737 pages. Available in PDF, EPUB and Kindle. Book excerpt: A multiplicity of techniques and angles of attack are incorporated in 18 contributions describing recent developments in the structure, architecture, programming, control, and implementation of industrial robots capable of performing intelligent action and decision making. Annotation copyright Book
Download or read book American Doctoral Dissertations written by and published by . This book was released on 1997 with total page 806 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Climbing and Walking Robots written by Karsten Berns and published by John Wiley & Sons. This book was released on 2001-11-28 with total page 1082 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent advances in robot technology from around the world Climbing and Walking Robots: From Biology to Industrial Applications is a collection of papers presented at the 2001 CLAWAR conference. Featuring current work from leading robotics labs around the globe, this book presents the latest in robotics across industries and suggests directions for future research. Topics include design methodology, bipedal locomotion, fluid actuators, sensor systems, control architecture and simulation, and more. Relevant to mechanical engineers and robotics specialists in both industry and academia, these papers showcase the field's latest technological advances.
Download or read book Special Robot Technology written by Tongying Guo and published by Springer Nature. This book was released on 2023-05-23 with total page 273 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the core technologies of special robots. Both principles and engineering practice have been addressed. This is achieved by providing an in-depth study on several major topics such as the vision positioning of mobile robots, the autonomous motion control of ruin search and rescue robots, and typical applications of text questions and answers robots. The autonomous motion control technologies of ruin search and rescue robots and typical applications of text questions and answers robots are the major features of the book. The book benefits researchers, engineers, senior undergraduate students, and postgraduate students in the fields of visual positioning, path planning, autonomous motion control, and typical applications of special robots.
Download or read book Robotics for Challenging Environments written by Laura A. Demsetz and published by American Society of Civil Engineers. This book was released on 1996 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: Comprises 45 proceedings papers from the June 1996 conference which brought together researchers in robotic technology with professionals seeking innovative solutions to working in challenging environments. The presentations discuss both supporting technologies and application areas, covering topics in path planning, operator interfaces, robot control, space robot applications and standards, robotic excavation, safety in nuclear facilities, mobile systems, and education applications. Includes illustrations. Annotation copyright by Book News, Inc., Portland, OR
Download or read book Multi View Geometry Based Visual Perception and Control of Robotic Systems written by Jian Chen and published by CRC Press. This book was released on 2018-06-14 with total page 342 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes visual perception and control methods for robotic systems that need to interact with the environment. Multiple view geometry is utilized to extract low-dimensional geometric information from abundant and high-dimensional image information, making it convenient to develop general solutions for robot perception and control tasks. In this book, multiple view geometry is used for geometric modeling and scaled pose estimation. Then Lyapunov methods are applied to design stabilizing control laws in the presence of model uncertainties and multiple constraints.
Download or read book Annual Commencement written by Stanford University and published by . This book was released on 1996 with total page 506 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Rising Stars in Human Robot Interaction written by Bilge Mutlu and published by Frontiers Media SA. This book was released on 2022-08-11 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Visual Perception and Robotic Manipulation written by Geoffrey Taylor and published by Springer. This book was released on 2008-08-18 with total page 231 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book moves toward the realization of domestic robots by presenting an integrated view of computer vision and robotics, covering fundamental topics including optimal sensor design, visual servo-ing, 3D object modelling and recognition, and multi-cue tracking, emphasizing robustness throughout. Covering theory and implementation, experimental results and comprehensive multimedia support including video clips, VRML data, C++ code and lecture slides, this book is a practical reference for roboticists and a valuable teaching resource.
Download or read book Visual Task Specification User Interface for Uncalibrated Visual Servoing written by Mona Gridseth and published by . This book was released on 2015 with total page 167 pages. Available in PDF, EPUB and Kindle. Book excerpt: In today's world robots work well in structured environments, where they complete tasks autonomously and accurately. This is evident from industrial robotics. However, in unstructured and dynamic environments such as for instance homes, hospitals or areas affected by disasters, robots are still not able to be of much assistance. Moreover, robotics research has focused on topics such as mechatronics design, control and autonomy, while fewer works pay attention to human-robot interfacing. This results in an increasing gap between expectations of robotics technology and its real world capabilities. In this work we present a human robot interface for semi-autonomous human-in-the-loop control, that aims to tackle some of the challenges for robotics in unstructured environments. The interface lets a user specify tasks for a robot to complete using uncalibrated visual servoing. Visual servoing is a technique that uses visual input to control a robot. In particular, uncalibrated visual servoing works well in unstructured environments since we do not rely on calibration or other modelling. The user can visually specify high-level tasks by combining a set of geometric constraints. Our interface offers a versatile set of tasks that span both coarse and fine manipulation. The main contribution of this thesis is twofold. First of all we have developed an interface for visual task specification. Second we complete experiments to explore the visual task specification technique and find how to best use it in practice. Finally, we complete experiments to assess the performance of the system.
Download or read book Advancing Automation and Robotics Technology for the Space Station Freedom and for the US Economy written by United States. National Aeronautics and Space Administration. Advanced Technology Advisory Committee and published by . This book was released on 1988 with total page 44 pages. Available in PDF, EPUB and Kindle. Book excerpt:
