Download or read book Pretouch Sensing for Robotic Grasping written by Liang-Ting Jiang and published by . This book was released on 2014 with total page 111 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic grasping of unknown objects is recognized to be a challenging problem; this is due to the uncertainty of object shape, caused by the imperfect perception capability of the robot. Vision and depth sensors are commonly used to sense objects before grasping. These sensors suffer from shortcomings such as occlusion, inaccurate sensor readings, and failures due to reflection and transparency. Grasping solely relying on an incomplete object shape can fail regardless of the grasp planning. On the other hand, tactile exploration is widely used to acquire local geometric information of the object and does not subject to occlusion. However, since touch sensing relies on physical contact between the manipulator and the object, it tends to unintentionally displace objects, particularly light objects. This dissertation considers "pretouch", a sensing modality that is intermediate in range between long-range depth and tactile sensing. This is potentially beneficial for robotic grasping as it provides reliable geometric information in the last centimeter before contact. In this dissertation, a novel pretouch technique, "seashell effect pretouch", is first presented. It is effective for a set of materials that other pretouch techniques fail to sense. This pretouch modality is inspired by the phenomenon of "hearing the sea" when a seashell is held to the ear; in particular, the observation that the "sound of the sea" changes as the distance from the seashell to the ear varies. It is because environmental noise is amplified the most (attenuated the least) at the cavity's resonant frequency, which changes as the cavity approaches an object. In order to turn the familiar seashell effect into a pretouch sensor, I study the underlying acoustic principle, i.e., the acoustic radiation impedence changes caused by the object being close to the opening of the cavity. The sensor design, including the acoustic properties, hardware/software design, and signal processing, are discussed in detail. The resulting implementation is fully integrated into the finger of a Willow Garage PR2 robot. The sensor detects resonance frequency shifts in the spectrum of ambient sound, which occur when the finger approaches an object. The performance of the proposed sensor is characterized and evaluated, in terms of the sensing range, accuracy, and its material selectivity. This results in the ability to reliably detect the presence of the object within 5 mm. In addition, a new infrared optical pretouch sensor can be developed, with minimal modification on the proposed sensor system design. The first explored application is detecting extremely compliant objects during grasp execution. In a pre-grasp execution experiment, the ability to detect compliant objects of the seashell effect pretouch sensor is compared with that of a pressure sensor. The results suggest advantages of seashell pretouch over tactile sensing. The second application is pretouch-assisted grasp planning. When the pretouch sensor senses the object during a series of probing motions, it provides points collected by recording the position of end effector on the robot; these additional points augment the point cloud from the depth sensor. This method compensates for object shape, that is otherwise incomplete due to depth sensor failure or occlusion. Furthermore, a unified probabilistic framework is proposed to (1) identify shape uncertainty for the target object; (2) automatically explore the uncertain areas to reduce the uncertainty, resulting in a grasp with higher confidence. In the beginning, the robot is provided with only the incomplete object shape data acquired from a Kinect depth sensor---it does not have a model of the object. Next, combining the Kinect point cloud with prior probability distributions for occlusion and transparency, it makes inferences about unobserved portions of the object. Operating on the inferred shape of the object, an iterative grasp replanning algorithm decides whether further exploration is required, and where to explore in the scene. The information gathered by the exploration action is added directly to the environment representation in real-time and hence considered in the next grasp planning iteration. Experimental results showed that, the robot is able to grasp partially transparent objects with a high success rate of 96%. Finally, I propose to augment streaming point cloud data with the seashell effect pretouch information. This is inspired by the use case of haptic rendering in a telerobotic grasping scenario. The non-contact seashell-effect pretouch sensor fixed to the robot end effector is used to sense physical geometries within the vicinity of the sensor. Thus, the point cloud representation of an unknown environment, which may be sparse or poorly visible, is enhanced through telerobotic exploration/sensing in real-time. Furthurmore, real-time haptic rendering algorithms are applied on the augmented point clouds to create haptic virtual fixtures, and also provide haptic force feedback to the operator. This method provides the teleoperator with critical geometrical information about the grasp target, while preventing the robot end effector from collision. The augmented virtual environment after the pretouch exploration represents more complete object shapes, which helps the operator align the gripper on the slave robot with the target object for grasping.

Download or read book Technologies for Smart Sensors and Sensor Fusion written by Kevin Yallup and published by CRC Press. This book was released on 2017-12-19 with total page 492 pages. Available in PDF, EPUB and Kindle. Book excerpt: Exciting new developments are enabling sensors to go beyond the realm of simple sensing of movement or capture of images to deliver information such as location in a built environment, the sense of touch, and the presence of chemicals. These sensors unlock the potential for smarter systems, allowing machines to interact with the world around them in more intelligent and sophisticated ways. Featuring contributions from authors working at the leading edge of sensor technology, Technologies for Smart Sensors and Sensor Fusion showcases the latest advancements in sensors with biotechnology, medical science, chemical detection, environmental monitoring, automotive, and industrial applications. This valuable reference describes the increasingly varied number of sensors that can be integrated into arrays, and examines the growing availability and computational power of communication devices that support the algorithms needed to reduce the raw sensor data from multiple sensors and convert it into the information needed by the sensor array to enable rapid transmission of the results to the required point. Using both SI and US units, the text: Provides a fundamental and analytical understanding of the underlying technology for smart sensors Discusses groundbreaking software and sensor systems as well as key issues surrounding sensor fusion Exemplifies the richness and diversity of development work in the world of smart sensors and sensor fusion Offering fresh insight into the sensors of the future, Technologies for Smart Sensors and Sensor Fusion not only exposes readers to trends but also inspires innovation in smart sensor and sensor system development.

Download or read book Vision tactile Sensing for Robust Robotic Grasping written by 朱凡 and published by . This book was released on 2021 with total page 102 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Tactile Sensors for Robotic Applications written by Salvatore Pirozzi and published by MDPI. This book was released on 2021-03-17 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people

Download or read book Electromechanics and Robotics written by Andrey Ronzhin and published by Springer Nature. This book was released on 2021-08-28 with total page 507 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book features selected papers presented at the 16th International Conference on Electromechanics and Robotics ‘Zavalishin’s Readings’ – ER(ZR) 2021, held in St. Petersburg, Russia, on April 14–17, 2021. The contributions, written by professionals, researchers and students, cover topics in the field of automatic control systems, electromechanics, electric power engineering and electrical engineering, mechatronics, robotics, automation and vibration technologies. The Zavalishin's Readings conference was established as a tribute to the memory of Dmitry Aleksandrovich Zavalishin (1900–1968) – a Russian scientist, corresponding member of the USSR Academy of Sciences, and founder of the school of valve energy converters based on electric machines and valve converters energy. The first conference was organized by the Institute of Innovative Technologies in Electromechanics and Robotics at the Saint Petersburg State University of Aerospace Instrumentation in 2006. The 2021 conference was held with XV International Conference “Vibration-2021. Vibration technologies, mechatronics and controlled machines” and VI International Conference “Electric drive, electrical technology and electrical equipment of enterprises“, and was organized by St. Petersburg State University of Aerospace Instrumentation (SUAI), St. Petersburg Federal Research Center of the Russian Academy of Sciences (SPC RAS), Southwest State University (SWSU) and Ufa State Oil Technical University (USPTU).

Download or read book Experimental Robotics written by Oussama Khatib and published by Springer. This book was released on 2013-08-20 with total page 919 pages. Available in PDF, EPUB and Kindle. Book excerpt: Incorporating papers from the 12th International Symposium on Experimental Robotics (ISER), December 2010, this book examines the latest advances across the various fields of robotics. Offers insights on both theoretical concepts and experimental results.

Download or read book Fundamentals of Robotic Grasping and Fixturing written by Caihua Xiong and published by World Scientific. This book was released on 2007 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture design principle, and evaluating and planning of robotic grasping/fixturing, and focuses on the modeling and applications of the RGF. Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students.The book provides readers an overall picture and scientific basis of RGF, the comprehensive information and mathematic models of developing and applying RGF in industry, and presents long term valuable information which is essential and can be used by technical professions as a good reference.

Download or read book Robot Tactile Sensing written by R. Andrew Russell and published by . This book was released on 1990 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work introduces tactile sensing for those engaged in advanced, sensor-based robotics, with special reference to problems of addressing arrays of sensor elements. It describes tactile sensors to register contact, surface profile, thermal properties and other tactile sensing modes. The use of robot manipulators to provide mobility for tactile sensors, and techniques for applying tactile sensing in robotic manipulation and recognition tasks are also covered. The various applications of this technology are discussed, and robot hands and grips are detailed.

Download or read book Robotic Tactile Sensing written by Ravinder S. Dahiya and published by Springer Science & Business Media. This book was released on 2012-07-29 with total page 258 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. The efforts during last four decades or so have yielded a wide spectrum of tactile sensing technologies and engineered solutions for both intrinsic and extrinsic touch sensors. Nowadays, new materials and structures are being explored for obtaining robotic skin with physical features like bendable, conformable, and stretchable. Such features are important for covering various body parts of robots or 3D surfaces. Nonetheless, there exist many more hardware, software and application related issues that must be considered to make tactile sensing an effective component of future robotic platforms. This book presents an in-depth analysis of various system related issues and presents the trade-offs one may face while developing an effective tactile sensing system. For this purpose, human touch sensing has also been explored. The design hints coming out of the investigations into human sense of touch can be useful in improving the effectiveness of tactile sensory modality in robotics and other machines. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. The concept of semiconductor devices based sensors is an interesting one, as it allows compact and fast tactile sensing systems with capabilities such as human-like spatio-temporal resolution. This book presents a comprehensive description of semiconductor devices based tactile sensing. In particular, novel Piezo Oxide Semiconductor Field Effect Transistor (POSFET) based approach for high resolution tactile sensing has been discussed in detail. Finally, the extension of semiconductors devices based sensors concept to large and flexile areas has been discussed for obtaining robotic or electronic skin. With its multidisciplinary scope, this book is suitable for graduate students and researchers coming from diverse areas such robotics (bio-robots, humanoids, rehabilitation etc.), applied materials, humans touch sensing, electronics, microsystems, and instrumentation. To better explain the concepts the text is supported by large number of figures.

Download or read book Automated Robotic Grasping by Use of Optical Proximity Sensors written by Ho Seong Lee and published by . This book was released on 1987 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Tactile Sensing Skill Learning and Robotic Dexterous Manipulation written by Qiang Li and published by Academic Press. This book was released on 2022-04-02 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects' property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. - Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation - Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control - Introduces recent work on human's dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration - Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches

Download or read book Robot Rubik s Cube Solving written by Boling Yang and published by . This book was released on 2018 with total page 46 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics manipulation accuracy highly depends on the robot's belief about the relative pose between object and manipulator. While most robots achieve object pose estimation through computer vision via head-mounted cameras, robotics manipulation accuracy is limited by this perception method. A major limitation comes from our inability to perfectly calibrate both the cameras' parameters and the coordinate frames of robot arms. Moreover, when a task requires a robot to perform a long sequence of manipulation, manipulation errors could be accumulated a long time and eventually result in an irreversible failure to the task. The focus of this work is to examine how robots can achieve more robust sequential manipulation through the use of pre-touch sensors. The utility of close-range proximity sensing is evaluated through a robotic system that uses a new optical time-of-flight pre-touch sensor to complete a highly precise and sequential task - solving the Rubik's cube. The techniques used in this task are then extended to a more general framework in which ICP is used to match pre-touch data to a reference model, demonstrating that even simple pre-touch scans can be used to recover the pose of common objects that require sequential manipulation. Two pre-touch sensing region detection algorithms are introduced to detect object regions that contain distinctive geometric features. By focusing pre-touch sensing on these regions, the robot can more efficiently gather the information necessary to adjust its original pose estimate.

Download or read book A Sensor Based Strategy for Automatic Robotic Grasping written by David Lawrence Brock and published by . This book was released on 1993 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Advanced Tactile Sensing for Robotics written by H.R. Nicholls and published by World Scientific Publishing Company Incorporated. This book was released on 1992-01-01 with total page 312 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advanced robot systems require sensory information to enable them to make decisions and to carry out actions in a versatile, autonomous way. Humans make considerable use of information derived through touch, and an emerging domain of robot sensing is tactile sensing. This book considers various aspects of tactile sensing, from sensor hardware design through to the use of tactile data in exploratory situations using a multi-fingered robot hand. Both introductory material and new research results are presented, providing detailed coverage of the subject. Applications from assembly automation to dextrous manipulation are examined, and a particular theme is the relevance of biological touch to robotic tactile sensing. The integration of these topics into a single volume make the book essential reading for all those interested in robotic sensing. Contents: Introduction to Tactile SensingTactile Sensor DesignsProcessing and Using Tactile Sensor Data "(H R Nicholls)"Planar Elasticity for Tactile Sensing "(R S Fearing)"Integrating Tactile Sensors — ESPRIT 278 "(Z G Rzepczynski)"Distributed Touch Sensing "(H R Nicholls & N W Hardy)"The Human Tactile System "(L Moss-Salentijn)"Lessons from the Study of Biological Touch for Robotic Tactile Sensing "(S J Lederman & D T Pawluck)"Lessons from the Study of Biological Touch for Robotic Haptic Sensing "(S J Lederman et al.)"Object Recognition Using Active Tactile Sensing "(P K Allen)"Experiments in Active Haptic Perception with the Utah-MIT Dextrous Hand "(P K Allen et al.)"Future Trends in Tactile Sensing "(H R Nicholls)"Appendix — Basic Linear Elasticity "(R S Fearing)" Readership: Computer scientists and engineers.

Download or read book Touch Based Object Pose Estimation for Robotic Grasping written by Joao Bimbo and published by . This book was released on 2016 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot grasping and manipulation require very accurate and timely knowledge of the manipulated object's shape and pose to successfully perform a desired task. One of the main reasons current systems fail to carry out complex tasks in a real, unstructured environment is their inability to accurately determine where in, the object the fingers are touching. Most systems use vision to detect the pose of an object, but the performance of this sensing modality deteriorates as soon as the robot grasps the object. When the robot hand contacts an object, it partially occludes it, which makes it difficult for vision systems to track the object's location. This thesis presents algorithms to use the robot's available tactile sensing to correct the visually determined pose of a grasped object. This method is extended to globally estimate the pose of the object even when no initial estimate is given. Two different tactile sensing strategies have been employed: single-point and distributed, and measurement models for these two strategies are presented. Different optimisation algorithms are developed and tested to minimise the output of these measurement models and find one or more poses that satisfy current tactile measurements. Results show that the method is able to successfully estimate the pose of a grasped object with high accuracy, even for objects with a high degree of geometric complexity. Other applications of the method are proposed, such as determining grasp stability or identifying the grasped object, as well as future research directions.

Download or read book Robotic Tactile Sensors for Changing Contact Conditions written by Tae Myung Huh and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, robots have increasingly operated in a range of relatively unstructured environments, from outdoor agricultural operations to a cluttered kitchen in the home. As robots operate in these environments, they interact through continuously changing contact conditions between their hands and feet and the surfaces they touch. Toward allowing robots to respond to changing contact conditions, this thesis presents new tactile sensors for three particularly challenging scenarios: small running robots that need to sense changing contact conditions at their feet; grippers that employ gecko-inspired adhesion and need to sense how the adhesion is changing; and frictional grippers that use controlled sliding for manipulation. In each case, the sensing solution is informed by models of the contacts and how they can change. The first application focuses on leg-ground contacts for small running robots. Although legs are more complicated than wheels, legged robots are gradually growing in popularity due to their agility and versatility on various outdoor terrains. For best performance in terms of speed, efficiency and robust operation, legged robots should be equipped with sensors on their feet to monitor ground reaction forces and contact locations, so that they can account for how these affect running dynamics. However, it has been challenging to implement force sensors on the legs of small running robots because of the scale and geometry. To tackle this challenge, I developed a flexible capacitive force sensor array that measures distributed normal forces and a shear force. The sensor is mounted on the compliant C-shaped feet of a small hexapod robot and provides information about the ground reaction forces, contact locations, and overall gait smoothness and stability. Using the sensor information, I demonstrate two adaptive gait control methods that achieve improved running in terrain transitions and that reduce trajectory disturbances arising from obstacle contacts. Secondly, this thesis addresses robots that rely on adhesion, especially gecko-inspired adhesion. Grippers with astrictive force capabilities, such as suction or adhesion, adhere to an object surface even in with the negative grasp forces, allowing to them handle challenging objects such as large flat tiles and large curved objects that they cannot enclose. Among the various astrictive forces, gecko-inspired adhesion enjoys recent attention for its controllability: it is activated simply by applying a shear force and releases when the shear force is relaxed. However, measuring the adhesion is difficult because it depends on the area of contact formed by microscopic fibrillar structures and a surface. To tackle this challenge, I devised two direct contact area sensors for a gecko-adhesive gripper by using guided Lamb wave sensing and capacitive near-field proximity sensing. The former is relatively insensitive to the material of the adherend surface; the latter provides a high spatial resolution, which is useful for small grippers. In both approaches, I show that the sensor response matches the real contact area of the microscopic fibrillar structures sticking to a surface. Using these sensors, the robot can monitor contact area changes during a grasping process and evaluate the gripping quality before a failure occurs. Lastly, this thesis considers tactile sensing for in-hand manipulation with sliding. In this type of contact, multimodal sensors are necessary to simultaneously monitor steady force interactions and dynamic contact events. This information is useful both for stable gripping under varying load and for manipulation with respect to a hand. However, it has been challenging to build a compact multimodal sensor with a large taxel array that can be sampled rapidly for detecting directional dynamic events such as linear or rotational sliding. To address this challenge, I devised a capacitive nib array sensor that measures local stresses as well as directional sliding motions. The sensor rapidly samples the tactile array by dynamically clustering the sensing electrodes into groups that are selectively sensitive to certain types of directional sliding. Using this sensor, I demonstrate an in-hand sliding manipulation that measures changing sliding contacts and controls the grasp force to pivot an object lying on a table to an upright pose.

Download or read book Mechanics of Robotic Manipulation written by Matthew T. Mason and published by MIT Press. This book was released on 2001-06-08 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.