Download or read book Flexible Robotics written by Mathieu Grossard and published by John Wiley & Sons. This book was released on 2013-08-05 with total page 290 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, particularly those designed for manipulation tasks characterized by mechanical flexibility. Chapter 1 deals with the general context surrounding the design of functionally integrated microgripping systems. Chapter 2 focuses on the dual notations of modal commandability and observability, which play a significant role in the control authority of vibratory modes that are significant for control issues. Chapter 3 presents different modeling tools that allow the simultaneous use of energy and system structuring notations. Chapter 4 discusses two sensorless methods that could be used for manipulation in confined or congested environments. Chapter 5 analyzes several appropriate approaches for responding to the specific needs required by versatile prehension tasks and dexterous manipulation. After a classification of compliant tactile sensors focusing on dexterous manipulation, Chapter 6 discusses the development of a complying triaxial force sensor based on piezoresistive technology. Chapter 7 deals with the constraints imposed by submicrometric precision in robotic manipulation. Chapter 8 presents the essential stages of the modeling, identification and analysis of control laws in the context of serial manipulator robots with flexible articulations. Chapter 9 provides an overview of models for deformable body manipulators. Finally, Chapter 10 presents a set of contributions that have been made with regard to the development of methodologies for identification and control of flexible manipulators based on experimental data. Contents 1. Design of Integrated Flexible Structures for Micromanipulation, Mathieu Grossard, Mehdi Boukallel, Stéphane Régnier and Nicolas Chaillet. 2. Flexible Structures’ Representation and Notable Properties in Control, Mathieu Grossard, Arnaud Hubert, Stéphane Régnier and Nicolas Chaillet. 3. Structured Energy Approach for the Modeling of Flexible Structures, Nandish R. Calchand, Arnaud Hubert, Yann Le Gorrec and Hector Ramirez Estay. 4. Open-Loop Control Approaches to Compliant Micromanipulators, Yassine Haddab, Vincent Chalvet and Micky Rakotondrabe. 5. Mechanical Flexibility and the Design of Versatile and Dexterous Grippers, Javier Martin Amezaga and Mathieu Grossard. 6. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation, Mehdi Boukallel, Hanna Yousef, Christelle Godin and Caroline Coutier. 7. Flexures for High-Precision Manipulation Robots, Reymond Clavel, Simon Henein and Murielle Richard. 8. Modeling and Motion Control of Serial Robots with Flexible Joints, Maria Makarov and Mathieu Grossard. 9. Dynamic Modeling of Deformable Manipulators, Frédéric Boyer and Ayman Belkhiri. 10. Robust Control of Robotic Manipulators with Structural Flexibilities, Houssem Halalchi, Loïc Cuvillon, Guillaume Mercère and Edouard Laroche. About the Authors Mathieu Grossard, CEA LIST, Gif-sur-Yvette, France. Nicolas Chaillet, FEMTO-ST, Besançon, France. Stéphane Régnier, ISIR, UPMC, Paris, France.

Download or read book Hybrid Learning for Multi step Manipulation in Collaborative Robotics written by Claudia Pérez D'Arpino and published by . This book was released on 2019 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt: I envision robots that can LEARN a model of the steps and the goal of a constrained multi-step manipulation task by observing human examples of the task, that are flexible enough to COLLABORATE with a human teammate to execute this task, and that are able to DISCOVER their own new strategy for performing the task in a manner that adapts well to unmodeled aspects of the physical world. In this thesis I formulate models and algorithms for hybrid learning, a framework in which a robot learns manipulation tasks by combining observational and self-learning, and develop a learning and collaboration workflow in the context of remote manipulation in shared autonomy. I show experimentally that this collaborative workflow significantly improves performance over other systems for remote manipulation. LEARN: I first present C-LEARN, an algorithm that enables robot learning of multi-step manipulation tasks from a single human demonstration. I consider quasi-static tasks that are geometrically constrained. The robot uses demonstrations to formulate a task representation in terms of keyframes and geometric constraints than can be used by a motion planner to solve a new instance of the task. This work addresses the technical gap between learning from demonstrations and motion planning, effectively increasing the complexity of manipulation tasks that end users without programming experience can teach robots. COLLABORATE: Second, I present the integration of C-LEARN into a collaborative workflow for remote manipulation. This model is evaluated through a user study that compares four architectures for remote manipulation with expert operators. The proposed method results in task times comparable to direct teleoperation while increasing the accuracy of the execution. DISCOVER: Finally, I present the hybrid learning framework for discovering novel strategies for multi-step manipulation, by combining learning from demonstrations and self-learning through exploration in a simulation. I demonstrate my approach by tasking a robot to manipulate blocks and assemble a stable structure. While the desired geometry is specified by the example, the underlying physics is unobservable. The robot uses Monte Carlo Tree Search (MCTS) with interleaved task and motion planning in simulation to find a robust strategy to accomplish the task.

Download or read book Robotique flexible Manipulation multi chelle written by GROSSARD Mathieu and published by Lavoisier. This book was released on 2013-07-01 with total page 395 pages. Available in PDF, EPUB and Kindle. Book excerpt: Qu’il s’agisse de tâches de préhension versatile aux échelles du micromonde ou bien de tâches de manipulation fine ou dextre à une échelle dimensionnelle supérieure, la fonction de manipulation robotique nécessite l’utilisation de systèmes mécatroniques performants et précis. Dans la majorité des cas, ceux-ci mettent en jeu des mécanismes qui sont caractérisés par des phénomènes mécaniques de flexibilité. Ces phénomènes sont induits naturellement par l’emploi de certains composants technologiques constitutifs du système ou par la géométrie de certaines structures élancées. Il peut alors s’agir de micromanipulateurs à base de matériaux actifs, de bras manipulateurs légers, d’organes terminaux de préhension très intégrés sur le plan fonctionnel, voire de manipulateurs d’inspiration anthropomorphe. Aperçu des dernières avancées scientifiques et technologiques en la matière, cet ouvrage est destiné à toute personne intéressée par le champ de la robotique flexible et plus particulièrement par la manipulation.

Download or read book Flexible Multiposition Manipulation with a Mobile Industrial Robot written by H-J Warnecke and published by . This book was released on 1985 with total page 20 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robotic System for Manipulation of Flexible Materials written by Nirav M. Mehta and published by . This book was released on 2001 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Dynamics and Control of Multi link Robot Manipulators with Joint Flexibility written by Peng-Han Wang and published by . This book was released on 1989 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Control and Coordination of Robots in a Flexible Multi robot Platform with a Special Reference to Micro handling written by Kasper Døring and published by . This book was released on 2004 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book In Hand Object Localization and Control Enabling Dexterous Manipulation with Robotic Hands written by Martin Pfanne and published by Springer Nature. This book was released on 2022-08-31 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.

Download or read book Dynamics and Control of Flexible Manipulation Robots written by Miomir Vukobratovic and published by . This book was released on 1995-12-01 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Rehabilitation Robots for Neurorehabilitation in High Low and Middle Income Countries written by Michelle Jillian Johnson and published by Academic Press. This book was released on 2023-10-27 with total page 569 pages. Available in PDF, EPUB and Kindle. Book excerpt: Rehabilitation Robots for Neurorehabilitation in High, Low, and Middle Income Countries: Current Practice, Barriers, and Future Directions describes the state-of-art research of stroke rehabilitation using robot systems in selected High Income Countries (HICs) and Low and Middle Income Countries (LMICs), along with potential solutions that enable these technologies to be available to clinicians worldwide, regardless of country and economic status. The book brings together engineers and clinicians, offers insights into healthcare disparities, and highlights potential solutions to facilitate the availability and accessibility of more robot systems to stroke survivors and their clinicians worldwide, regardless of country and economic status.In addition, the book provides examples on how robotic technology is used to bridge rehabilitation gaps in LMICs and describes potential strategies for increasing the expansion of robot-assisted stroke rehabilitation across more LMICs. - Provides a global picture of robot-assisted neurorehabilitation - Describes stroke healthcare in selected LMICs and selected HICs, along with disparity issues - Discusses potential barriers to the penetration of rehabilitation robots into LMICs - Presents concrete examples on how clinicians and engineers have begun to address healthcare gaps with rehabilitation robotics and how to deal with accessibility barriers

Download or read book Learning for Adaptive and Reactive Robot Control written by Aude Billard and published by MIT Press. This book was released on 2022-02-08 with total page 425 pages. Available in PDF, EPUB and Kindle. Book excerpt: Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.

Download or read book Arduino Robotics written by John-David Warren and published by Apress. This book was released on 2011-10-08 with total page 621 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book will show you how to use your Arduino to control a variety of different robots, while providing step-by-step instructions on the entire robot building process. You'll learn Arduino basics as well as the characteristics of different types of motors used in robotics. You also discover controller methods and failsafe methods, and learn how to apply them to your project. The book starts with basic robots and moves into more complex projects, including a GPS-enabled robot, a robotic lawn mower, a fighting bot, and even a DIY Segway-clone. Introduction to the Arduino and other components needed for robotics Learn how to build motor controllers Build bots from simple line-following and bump-sensor bots to more complex robots that can mow your lawn, do battle, or even take you for a ride Please note: the print version of this title is black & white; the eBook is full color.

Download or read book Image Understanding Workshop written by and published by . This book was released on 1990 with total page 952 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Autonomous Horizons written by Greg Zacharias and published by Independently Published. This book was released on 2019-04-05 with total page 420 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dr. Greg Zacharias, former Chief Scientist of the United States Air Force (2015-18), explores next steps in autonomous systems (AS) development, fielding, and training. Rapid advances in AS development and artificial intelligence (AI) research will change how we think about machines, whether they are individual vehicle platforms or networked enterprises. The payoff will be considerable, affording the US military significant protection for aviators, greater effectiveness in employment, and unlimited opportunities for novel and disruptive concepts of operations. Autonomous Horizons: The Way Forward identifies issues and makes recommendations for the Air Force to take full advantage of this transformational technology.

Download or read book Robotics Abstracts written by and published by . This book was released on 1990 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Smith s Textbook of Endourology written by Glenn Preminger and published by John Wiley & Sons. This book was released on 2011-11-29 with total page 1911 pages. Available in PDF, EPUB and Kindle. Book excerpt: Edited by the father of endourology, Arthur Smith, Smith's Textbook of Endourology is the definitive reference book in the field, addressing every aspect of endourologic procedure including methods of access, operative techniques, complications, and postoperative care. The reader is taken on a step-by-step journey through percutaneous surgery, ureteroscopy, extracorporeal shock wave lithotripsy, laparoscopy, and lower urinary tract procedures, and is given a comprehensive look at the influx of and dynamic changes in robotic and laparascopic procedures, and image-guided technologies. The principles and function of state-of-the-art endourologic instruments are outlined for each procedure. Now in full-color, the third edition contains 800 extra pages, culminating in an 1800 page, two-volume textbook reflecting the most current advances in endourology. A supplemental DVD includes over 100 high-quality surgical videos allowing you to see endourology in practice. With all chapters thoroughly revised by world-renowned authors with unrivalled expertise in the field, Smith's Textbook of Endourology 3E is an essential reference book for all urologists, particularly those who regularly perform endourology in their daily practice. This new edition, with its vast amount of extra content, will rightly cement its status as the leading urologic surgery textbook. Titles of Related Interest Interventional Techniques in Uro-oncology Arya, ISBN 9781405192729 Evidence-based Urology Dahm, ISBN 9781405185943

Download or read book Trust in Human Robot Interaction written by Chang S. Nam and published by Academic Press. This book was released on 2020-11-17 with total page 616 pages. Available in PDF, EPUB and Kindle. Book excerpt: Trust in Human-Robot Interaction addresses the gamut of factors that influence trust of robotic systems. The book presents the theory, fundamentals, techniques and diverse applications of the behavioral, cognitive and neural mechanisms of trust in human-robot interaction, covering topics like individual differences, transparency, communication, physical design, privacy and ethics. - Presents a repository of the open questions and challenges in trust in HRI - Includes contributions from many disciplines participating in HRI research, including psychology, neuroscience, sociology, engineering and computer science - Examines human information processing as a foundation for understanding HRI - Details the methods and techniques used to test and quantify trust in HRI