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CAD Model-based Tracking and 3D Visual-based Control for MEMS Microassembly
2010
The international journal of robotics research
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This paper investigates sequential robotic microassembly for the construction of 3D micro-electro-mechanical systems (MEMS) structures using a 3D visual servoing approach. ...
The previous solutions proposed in the literature for these kinds of problems are based on 2D visual control because of the lack of precise and robust 3D measures from the work scene. ...
The authors thank Miss Joanna Farrow, English teacher at ENSMM (National Engineering School of Mechanics and Microtechnics) of Besançon for these multiple proof-reading of this paper. ...
doi:10.1177/0278364910376033
fatcat:vdrjw646xvdd3l3bhucbz43yya
Real-time Perception meets Reactive Motion Generation
[article]
2017
arXiv
pre-print
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We address the challenging problem of robotic grasping and manipulation in the presence of uncertainty. ...
only reacts to local environment dynamics and (iii) a reactive planner that integrates feedback control and motion optimization. ...
Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the funding organizations. ...
arXiv:1703.03512v3
fatcat:y3y25efvw5fsjeqw6j3xh7glve
A Sensor-Based Dual-Arm Tele-Robotic System
2015
IEEE Transactions on Automation Science and Engineering
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We present a novel system to achieve coordinated task-based control on a dual-arm industrial robot for the general tasks of visual servoing and bimanual hybrid motion/force control. ...
and force control, and robust object manipulation in a tele-robotic framework. ...
ACKNOWLEDGMENT The authors would like to thank John Wason, the developer and architect of Robot Raconteur, for the development of a powerful and versatile software package and his continuing help with ...
doi:10.1109/tase.2014.2333754
fatcat:l5wzsgde35axfi6dw22km36k2e
Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges and Opportunities
[article]
2020
arXiv
pre-print
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The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either ...
To this end, we first introduce the basic formulation of the sensor-servo problem, then present the most common approaches: vision-based, touch-based, audio-based, and distance-based control. ...
First, we in-
troduce a tutorial-like general formulation of sensor-based control, which we
instantiate for visual servoing, touch control, aural servoing, and distance-
based control, while reviewing ...
arXiv:2007.02067v1
fatcat:qozztozlbfg4nolpfidhhgme2q
Automated microassembly using precision based hybrid control
2010
2010 IEEE International Conference on Robotics and Automation
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Using this quatitative tool, we formalize a precision-adjusted hybrid controller switching between open, closed, and calibrated operation in the microassembly cell. ...
In this paper, we use precision metrics to formalize a hybrid controller for automated MEMS assembly. ...
It consists of three robotic manipulators (M 1 , M 2 and M 3 ) with 19 DoF, four high magnification microscopes to provide stereo vision for tele-operated as well as visual servoing [14] . ...
doi:10.1109/robot.2010.5509155
dblp:conf/icra/DasPS10
fatcat:64dr4w47xzcrzip62exx34foea
Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges, and Opportunities
2021
Frontiers in Neurorobotics
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The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either ...
To this end, we first introduce the basic formulation of the sensor-servo problem, and then, present its most common approaches: vision-based, touch-based, audio-based, and distance-based control. ...
The research presented in this article was carried out as part of the SOPHIA project, which has received funding from the European Union's Horizon 2020 research and innovation programme under Grant Agreement ...
doi:10.3389/fnbot.2020.576846
pmid:33488375
pmcid:PMC7817623
fatcat:5c3l67mfknctpdek5t2qac6jfe
Past, Present, and Future of Aerial Robotic Manipulators
2021
IEEE Transactions on robotics
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a wide variety of robotic manipulators capable of physically interacting with the environment. ...
Finally, a new generation of aerial robotic manipulators is presented with our vision of the future. ...
Regarding visionbased controllers, a hybrid visual servoing with a hierarchical task-composition control is presented in [26] . ...
doi:10.1109/tro.2021.3084395
fatcat:r5vnwmw4gndfxcpzo6h6awuqea
MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle
2011
Journal of Intelligent and Robotic Systems
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Computer vision techniques and force feedback servoing provide target object and manipulator position feedback to the control hardware. ...
Therefore, we seek to investigate and develop the tools that will be necessary to perform manipulation tasks when this becomes a reality. ...
We would also like to thank the MM-UAV senior design team (Bryan Kobe, Clayton McNeil, and Robert Pisch) for their prototype sketches and pictures. ...
doi:10.1007/s10846-011-9591-3
fatcat:jjnybl22tfhz7ee7e4syesx4fa
Robotic Endoscope Control via Autonomous Instrument Tracking
[article]
2022
arXiv
pre-print
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Within our system, we propose a novel tooltip localization method based on surgical tool segmentation and a novel visual servoing approach that ensures smooth and appropriate motion of the endoscope camera ...
The proposed platform allows the surgeon to perform a bimanual coordination and navigation task, while a robotic arm autonomously performs the endoscope positioning tasks. ...
Vercauteren is supported by a Medtronic/Royal Academy of Engineering Research Chair [RCSRF1819\7\34]. ...
arXiv:2107.02317v3
fatcat:tu5gswxbijg63gmtrx5o6ctlmq
Robotic Endoscope Control Via Autonomous Instrument Tracking
2022
Frontiers in Robotics and AI
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Within our system, we propose a novel tooltip localization method based on surgical tool segmentation and a novel visual servoing approach that ensures smooth and appropriate motion of the endoscope camera ...
The proposed platform allows the surgeon to perform a bimanual coordination and navigation task, while a robotic arm autonomously performs the endoscope positioning tasks. ...
We show that a hybrid of position-based visual servoing (PBVS) and 3D image-based visual-servoing (IBVS) is preferred for robotic endoscope control. ...
doi:10.3389/frobt.2022.832208
pmid:35480090
pmcid:PMC9035496
fatcat:fosdnzrfrfe5dkxp5y7nzczzym
Intelligent perception and control for space robotics
2007
Machine Vision and Applications
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We present a space robotic system capable of capturing a free-flying satellite for the purposes of on-orbit satellite servicing. ...
Our innovative system combines visual perception (object identification, recognition, and tracking) with high-level reasoning in a hybrid deliberative/reactive computational framework. ...
(formerly MD Robotics, Ltd.) and Precarn Associates. We thank L. Gregoris for motivation, encouragement, and support. ...
doi:10.1007/s00138-007-0085-z
fatcat:r7bdepvtkvcfld7lokcocim7nu
Distributed Coordination in Modular Precision Assembly Systems
2001
The international journal of robotics research
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Over the past 5 years, the authors have been constructing just such a system suitable for assembly of high-precision, high-value products. ...
KEY WORDS-robotics, automated assembly, distributed systems, sensor-based control • the explosive deployment of high-performance information and communications technology-most notably in the application ...
, and Maria Sensi for their invaluable work on the project and support for this paper. ...
doi:10.1177/02783640122068128
fatcat:7duif4c5njau7jjovzwu5ac2ue
Designing a system for mobile manipulation from an Unmanned Aerial Vehicle
2011
2011 IEEE Conference on Technologies for Practical Robot Applications
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Computer vision techniques, including visual servoing, provide target object and manipulator position feedback to the control hardware. ...
Two seven degree-of-freedom manipulators attached to the gantry system perform grasping tasks. ...
We would also like to thank the MM-UAV senior design team (Bryan Kobe, Clayton McNeil, and Robert Pisch) for their CAD prototype sketch. ...
doi:10.1109/tepra.2011.5753491
fatcat:ntg5zz2s2zhf3k2xfzsaerc7ym
Table of Contents
2020
IEEE Robotics and Automation Letters
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Seo 813 Visual Servo of a 6-DOF Robotic Stereo Flexible Endoscope Based on da Vinci Research Kit (dVRK) System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
A Bin-Picking Benchmark for Systematic Evaluation of Robotic Pick-and-Place Systems .. . . . . . . . . . . . . . . . . . . . . . . . . . . . H. Mnyusiwalla, P. Triantafyllou, P. Sotiropoulos, M. A. ...
doi:10.1109/lra.2020.2987582
fatcat:3qafzip5xrg5jliyngq4xxvjha
2020 Index IEEE Robotics and Automation Letters Vol. 5
2020
IEEE Robotics and Automation Letters
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., +, LRA Oct. 2020
6686-6693
A Bin-Picking Benchmark for Systematic Evaluation of Robotic Pick-and-
Place Systems. ...
., +, LRA April 2020 1650-1655 Visual Servo of a 6-DOF Robotic Stereo Flexible Endoscope Based on da Vinci Research Kit (dVRK) System. ...
doi:10.1109/lra.2020.3032821
fatcat:qrnouccm7jb47ipq6w3erf3cja
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