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Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation

Alejandro Suarez, Guillermo Heredia, Anibal Ollero
2018 IEEE Access  
This paper presents an anthropomorphic, compliant and lightweight dual arm manipulator designed and developed for aerial manipulation applications with multi-rotor platforms.  ...  Each arm provides four degrees of freedom in a human-like kinematic configuration for end effector positioning: shoulder pitch, roll and yaw, and elbow pitch.  ...  ARMS CONTROL BASED IN INVERSE KINEMATICS A position/velocity controller based on inverse kinematics has been implemented. The block diagram can be seen in Fig. 7 .  ... 
doi:10.1109/access.2018.2833160 fatcat:43uuo5jrgffrbirj6zn2vmxtnu

Hybrid Operational Space Control for Compliant Legged Systems

Marco Hutter, Mark Hoepflinger, Christian Gehring, Michael Bloesch, C. David Remy, Roland Siegwart
2012 Robotics: Science and Systems VIII  
This paper introduces the concept of hybrid operational space control, a method that unifies kinematic tracking of individual joints with an inverse dynamics task space controller for the remainder of  ...  At the same time it improves fast tracking for compliant systems by means of appropriate low level position controllers.  ...  For compliant systems this is considered as a combination of kinematic position tracking (swing leg) and inverse dynamics control with swing leg compensation. A.  ... 
doi:10.15607/rss.2012.viii.017 dblp:conf/rss/HutterHGBRS12 fatcat:rsxbovmhrzh7hetfqlpfaqgvaq

2020 Index IEEE/ASME Transactions on Mechatronics Vol. 25

2020 IEEE/ASME transactions on mechatronics  
., Framework for Static and Dynamic Friction Identification for Industrial Manipulators; TMECH June 2020 1589-1599 Inyang-Udoh, U., Guo, Y., Peters, J., Oomen, T., and Mishra, S., Layer-to-Layer Predictive  ...  Control of Inkjet 3-D Printing; TMECH Aug. 2020 1783-1793 Iordachita, I., see He, C., TMECH Dec. 2020 2846-2857 Iqbal, A., Gao, Y., and Gu, Y., Provably Stabilizing Controllers for Quadrupedal Robot  ...  ., +, TMECH Feb. 2020 1-10 Modeling and Experimental Validation of a Compliant Underactuated Parallel Kinematic Manipulator.  ... 
doi:10.1109/tmech.2021.3049586 fatcat:k4ngjuvq7jc6pgfoh6irwtkvfi

Torque-Controlled Lightweight Arms and Articulated Hands: Do We Reach Technological Limits Now?

G. Hirzinger, N. Sporer, M. Schedl, J. Butterfaß, M. Grebenstein
2004 The international journal of robotics research  
We then discuss the key technologies needed for the development of an artificial "robonaut" generation with mechatronic ultra-lightweight arms and multifingered hands.  ...  In a similar way DLR's second generation of artificial four-fingered hands was a big step towards higher reliability, manipulability and overall performance.  ...  Acknowledgment We would like to thank Bavaria's Ministry of Technology which has made mechatronics a key topic of Bavaria's high tech offensive with lightweight robotics and articulated hands as central  ... 
doi:10.1177/0278364904042201 fatcat:klsrj6pbufao5malcuo5ddrrh4

DLR MiroSurge: a versatile system for research in endoscopic telesurgery

Ulrich Hagn, R. Konietschke, A. Tobergte, M. Nickl, S. Jörg, B. Kübler, G. Passig, M. Gröger, F. Fröhlich, U. Seibold, L. Le-Tien, A. Albu-Schäffer (+4 others)
2009 International Journal of Computer Assisted Radiology and Surgery  
be a key issue for the further development and optimisation.  ...  Versatile systems are often based on industrial robots, though, and because of this, are hardly suitable for close contact with humans.  ...  Acknowledgments We gratefully acknowledge the Bavarian Research Foundation (BFS) for funding the MiroSurge project. Special thanks to Paul Mittermiller.  ... 
doi:10.1007/s11548-009-0372-4 pmid:20033517 fatcat:xjg53tc5wzdldgsakjb2ijayzi

Common Situation Awareness as Basis for Human-Robot Interface [chapter]

A. Halme
2006 Climbing and Walking Robots  
machine challenge p. 311 Finding adequate optimization criteria to solve inverse kinematics of redundant bird leg mechanism p. 319 Integrated system of assisted mechatroic design for oriented  ...  lightweight manipulator p. 551 Design of a "soft" 2-DOF planar pneumatic manipulator p. 559 Simulation and experimental studies of hybrid learning control with acceleration feedback for flexible  ... 
doi:10.1007/3-540-26415-9_1 dblp:conf/clawar/Halme05 fatcat:egsro4muxve47ilmowjv6fsr3m

Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations

Alejandro Suarez, Fran Real, Victor M. Vega, Guillermo Heredia, Angel Rodriguez-Castano, Anibal Ollero
2020 IEEE Access  
The kinematic and dynamic models of both configurations are derived, proposing a unified notation for the equations of motion, and a force/position control scheme that relies on the servo controller and  ...  This paper describes the application of a human-like dual arm aerial manipulator for the inspection of pipe structures, typical of chemical plants, involving the installation and retrieval of sensor devices  ...  that implements the forward and inverse kinematics [16] .  ... 
doi:10.1109/access.2020.2993101 fatcat:p2u47k4jlzafrkzvggcmc6im3m

A multi-level control architecture for the bionic handling assistant

M. Rolf, K. Neumann, J.F. Queißer, R.F. Reinhart, A. Nordmann, J.J. Steil
2015 Advanced Robotics  
We thereby achieve an architecture with unique overall control abilities for a soft continuum robot that allow for flexible experimentation towards compliant user-interaction, grasping, and online learning  ...  To master the control of this challenging robot, we argue for a tight integration of standard analytic tools, simulation, control, and state of the art machine learning into an overall architecture that  ...  For implementation of functional components and integrating RCI entities into the applications, we leverage the Compliant Control Architecture (CCA) [18] .  ... 
doi:10.1080/01691864.2015.1037793 fatcat:nx2ikz3225etlhixogqxydlmxq

Modeling of movement control architectures based on motion primitives using domain-specific languages

Arne Nordmann, Sebastian Wrede, Jochen Steil
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
flexible control of complex and compliant robots.  ...  This paper introduces a model-driven approach for engineering complex movement control architectures based on motion primitives, which in recent years have been a central development towards adaptive and  ...  Figure 6b shows the mixture of controllers to learn inverse kinematics [15] as a second example.  ... 
doi:10.1109/icra.2015.7139899 dblp:conf/icra/NordmannWS15 fatcat:t7ulrxjn2bcvnktu6yktmjl7xu

Design, fabrication and control of soft robots

Daniela Rus, Michael T. Tolley
2015 Nature  
Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates like humans achieve dynamic gaits by storing elastic energy in their compliant bones  ...  Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials.  ...  Acknowledgements The authors would like to thank Andrew Marchese, Robert Katzschmann, and the anonymous reviewers for their insightful comments and suggestions in editing this paper.  ... 
doi:10.1038/nature14543 pmid:26017446 fatcat:xwwpejmh4bb7njdsv4a43wpbsq

Splecial Issue on Active Control-Leading Application of Control Theory. Control and Control Theory for Flexible Robots

David P. MAGEE, Wayne J. BOOK
1993 Journal of The Society of Instrument and Control Engineers  
As the requirements for robot performance increase,  ...  Book: Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints, Robotics & Com- puter-Integrated Manufacturing, 5-4, 301/310 (1989) 16) S.  ...  by a kinematic relation.  ... 
doi:10.11499/sicejl1962.32.4_309 fatcat:rjxfrc4x3fbqxaialjjdeq2exe

The DLR lightweight robot: design and control concepts for robots in human environments

A. Albu‐Schäffer, S. Haddadin, Ch. Ott, A. Stemmer, T. Wimböck, G. Hirzinger, Clive Loughlin
2007 Industrial robot  
The paper presents a new generation of torque-controlled lightweight robots (LWR) developed at the Institute of Robotics and Mechatronics of the German Aerospace Center.  ...  ratio of 1:1, torque sensing in the joints, active vibration damping, sensitive collision detection, as well as compliant control on joint and Cartesian level.  ...  Inverse Kinematics In contrast to the commonly used well-known Moore-Penrose pseudoinverse, a constraint optimization algorithm was chosen and investigated for dealing with the inverse kinematics problem  ... 
doi:10.1108/01439910710774386 fatcat:fkwmsobcbjestcfcvufzx3g2ta

A manipulation framework for compliant humanoid COMAN: Application to a valve turning task

Arash Ajoudani, Jinoh Lee, Alessio Rocchi, Mirko Ferrati, Enrico Mingo Hoffman, Alessandro Settimi, Darwin. G. Caldwell, Antonio Bicchi, Nikos G. Tsagarakis
2014 2014 IEEE-RAS International Conference on Humanoid Robots  
With the purpose of achieving a desired interaction performance for our compliant humanoid robot (COMAN), in this paper we propose a semi-autonomous control framework and evaluate it experimentally in  ...  The manipulation module implements four motion primitives (Reach, Grasp, Rotate and Disengage) and realizes the corresponding desired impedance profile for each phase to accomplish the task.  ...  In this direction, a novel dual-arm impedance control framework is developed and integrated into the control architecture of our intrinsically compliant robot.  ... 
doi:10.1109/humanoids.2014.7041434 dblp:conf/humanoids/AjoudaniLRFHSCBT14 fatcat:yreed77gfjc4nnmxs5q3pnqqnu

Winged Aerial Manipulation Robot with Dual Arm and Tail

Alejandro Suarez, Pedro Grau, Guillermo Heredia, Anibal Ollero
2020 Applied Sciences  
The paper describes the design, development, and aerodynamic analysis of this winged aerial manipulation robot (WAMR), consisting of a small-scale dual arm used for manipulating and as a morphing wing.  ...  The three joints of the arms (shoulder yaw and pitch, elbow pitch) can be used to control the surface area and orientation and thus the aerodynamic wrenches induced over the cloth.  ...  Acknowledgments: The authors want to acknowledge the support of Manuel Perez in the development of the winged aerial manipulator prototype.  ... 
doi:10.3390/app10144783 fatcat:5hfqdsbd3zg3hogbfl6ozluguy

Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study

Serket Quintanar-Guzmán, Somasundar Kannan, Adriana Aguilera-González, Miguel A. Olivares-Mendez, Holger Voos
2017 Journal of Intelligent Materials Systems and Structures  
The Operational Space Control of the robotic arm is performed by using a Joint Space control in the inner loop and Closed Loop Inverse Kinematics in the outer loop.  ...  carried out for the proposed model.  ...  The Closed Loop Inverse Kinematics gain (K r ) was set to 300, in order to achieve a fast response through this controller.  ... 
doi:10.1177/1045389x17721050 fatcat:6gwv6bmff5ajzgjn5ufkcy62rm
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