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CAD Model-based Tracking and 3D Visual-based Control for MEMS Microassembly

B. Tamadazte, E. Marchand, S. Dembélé, N. Le Fort-Piat
2010 The international journal of robotics research  
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]

Daniel Kappler, Jim Mainprice , Vincent Berenz and Jeannette Bohg Autonomous Motion Department at the MPI for Intelligent Systems, Tübingen, Germany, CLMC lab at the University of Southern California, Los Angeles, CA, USA, Lula Robotics Inc., Seattle, WA, USA, Dept. of Computer Science & Engineering, Univ. of Washington (+1 others)
2017 arXiv   pre-print
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

Daniel Kruse, John T. Wen, Richard J. Radke
2015 IEEE Transactions on Automation Science and Engineering  
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]

Andrea Cherubini, David Navarro-Alarcon
2020 arXiv   pre-print
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

Aditya N Das, Dan O Popa, Harry E Stephanou
2010 2010 IEEE International Conference on Robotics and Automation  
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

Andrea Cherubini, David Navarro-Alarcon
2021 Frontiers in Neurorobotics  
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

Anibal Ollero, Marco Tognon, Alejandro Suarez, Dongjun Lee, Antonio Franchi
2021 IEEE Transactions on robotics  
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

Christopher M. Korpela, Todd W. Danko, Paul Y. Oh
2011 Journal of Intelligent and Robotic Systems  
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]

Caspar Gruijthuijsen, Luis C. Garcia-Peraza-Herrera, Gianni Borghesan, Dominiek Reynaerts, Jan Deprest, Sebastien Ourselin, Tom Vercauteren, Emmanuel Vander Poorten
2022 arXiv   pre-print
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

Caspar Gruijthuijsen, Luis C. Garcia-Peraza-Herrera, Gianni Borghesan, Dominiek Reynaerts, Jan Deprest, Sebastien Ourselin, Tom Vercauteren, Emmanuel Vander Poorten
2022 Frontiers in Robotics and AI  
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

Faisal Qureshi, Demetri Terzopoulos
2007 Machine Vision and Applications  
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

Alfred A. Rizzi, Jay Gowdy, Ralph L. Hollis
2001 The international journal of robotics research  
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

Christopher M. Korpela, Todd W. Danko, Paul Y. Oh
2011 2011 IEEE Conference on Technologies for Practical Robot Applications  
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  
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  
., +, 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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