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FORROST: Advances in on-orbit robotic technologies

R. Lampariello, N. W. Oumer, J. Artigas, W. Rackl, G. Panin, R. Purschke, J. Harder, U. Walter, J. Frickel, I. Masic, K. Ravandoor, J. Scharnagl (+3 others)
2015 2015 IEEE Aerospace Conference  
The results of this work constitute important advances in the fundamental building blocks necessary for the orbital applications of interest.  ...  The scope is two-fold, since we address both the human-operated robotic operational mode, referred to in robotics as forcefeedback teleoperation, as well as the alternative autonomous mode, for the specific  ...  Boge for his kind support with all activities related to the EPOS facility at GSOC (DLR).  ... 
doi:10.1109/aero.2015.7118944 fatcat:ponhoj23izb5bbgtelg2fvinoe

Robot Grasping for Prosthetic Applications [chapter]

Aggeliki Tsoli, Odest Chadwicke Jenkins
2010 Springer Tracts in Advanced Robotics  
place in both static and dynamic environments.  ...  To address this sparse control problem, we propose the use of low-dimensional subspaces embedded within the pose space of a robotic limb.  ...  The authors also thank Greg Shaknarovich and the Metamotion Inc. for motion capture data and Schunk Inc., DLR, and Patrick van der Smagt for their assistance with the DLR/HIT robot hand.  ... 
doi:10.1007/978-3-642-14743-2_1 fatcat:tu6f5opfnrbfralyqx5wqfid4u

Anthropomorphic Soft Robotics – From Torque Control to Variable Intrinsic Compliance [chapter]

Alin Albu-Schäffer, Oliver Eiberger, Matthias Fuchs, Markus Grebenstein, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Sebastian Wolf, Christoph Borst, Gerd Hirzinger
2011 Springer Tracts in Advanced Robotics  
The paper gives an overview on the developments at the German Aerospace Center DLR towards anthropomorphic robots which not only try to approach the force and velocity performance of humans, but also have  ...  Both approaches required highly integrated mechatronic design and advanced, nonlinear control and planning strategies, which are presented in this paper.  ...  the passivity framework of the DLR robots.  ... 
doi:10.1007/978-3-642-19457-3_12 fatcat:hclnjwlnzfeozj7j6np7vdud4a

Advances in Simulation of Planetary Wheeled Mobile Robots [chapter]

Liang Ding, Haibo Gao, Zongquan Deng, Weihua Li
2011 Mobile Robots - Current Trends  
Therefore, even the most advanced rovers at present, Spirit and Opportunity, do not employ a completely autonomous control strategy but are teleoperated by scientists on the Earth.  ...  It uses the state information of a rover to analyze and review the current state, identify any anomalous issues, review previously commanded activities, and verify that the www.intechopen.com Mobile Robots  ...  Principle diagram of dynamics simulation www.intechopen.com Advances in Simulation of Planetary Wheeled Mobile Robots 395 00 , , vq     00 0 0 , , , , , vq P Q q   Table  ... 
doi:10.5772/25548 fatcat:giyd6ulrbzfktfyhcdsjen72wi

Recent advances in mechatronics

Okyay Kaynak
1996 Robotics and Autonomous Systems  
Four years has since then passed and in order to discuss the most recent advances, it has been decided to hold another similar conference during 24-  ...  The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or  ...  Acknowledgements The authors would like to thank Mr. K. Tonegawa for his help with the experiments.  ... 
doi:10.1016/s0921-8890(96)00039-5 fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy

Safe acting and manipulation in human environments: A key concept for robots in our society

Sami Haddadin, Sven Parusel, Rico Belder, Alin Albu-Schaffer, Gerd Hirzinger
2011 Advanced Robotics and its Social Impacts  
Having this goal in mind, our contributions reach from fundamental understanding of human injury due to robot-human collisions as the underlying metric for "safe" behavior, various interaction control  ...  In order for a robot to be able to safely interact with its environment it is primary to be able to react to unforeseen events in real-time on basically all levels of abstraction.  ...  Figure 1 shows the history of the DLR Lightweight robots, resulting in its commercialized version: the KUKA LWR [2] .  ... 
doi:10.1109/arso.2011.6301962 dblp:conf/arso/HaddadinPBAH11 fatcat:fmltxewfivbplfpfg3geo2uedm

Interaction Force, Impedance and Trajectory Adaptation: By Humans, for Robots [chapter]

Etienne Burdet, Gowrishankar Ganesh, Chenguang Yang, Alin Albu-Schäffer
2014 Springer Tracts in Advanced Robotics  
Implementations demonstrate that it can also utilise the capabilities of joint torque controlled robots and variable impedance actuators to optimally adapt interaction with dynamic environments and humans  ...  This paper develops and analyses a biomimetic learning controller for robots.  ...  We thank Sami Haddadin and Sven Perusal for their help in the robotic implementation, as well as Robert Steingraeuber and Henning Schmid, who will test the use of our algorithm in rehabilitation robots  ... 
doi:10.1007/978-3-642-28572-1_23 fatcat:uavxmiythrdede6wpmfogerpni

Intelligent Information-Guided Robotic Surgery [chapter]

Ryu Nakadate, Makoto Hashizume
2018 Recent Advances in Laparoscopic Surgery [Working Title]  
Our experience in clinical use of navigation system in robotic surgery is introduced. Finally, technologies applied for the training of surgeon are introduced and described.  ...  In order to cope with those limitations, recent various engineering technologies are trying to help surgeon. Robotics is one of the major technologies in this field.  ...  The details of the appearance of the robot, function, cost, etc. have not been published. MiroSurge system German aerospace center (DLR) developed MiroSurge system (Figure 4 ) [8, 9] .  ... 
doi:10.5772/intechopen.82191 fatcat:ty5wvd53ynbw3pcjeylhohfooi

The Role of Learning and Kinematic Features in Dexterous Manipulation: A Comparative Study with Two Robotic Hands

Anna Lisa Ciancio, Loredana Zollo, Gianluca Baldassarre, Daniele Caligiore, Eugenio Guglielmelli
2013 International Journal of Advanced Robotic Systems  
The architecture is tested with two simulated robotic hands having different kinematic features and engaged in rotating spheres, cylinders, and cubes of different sizes.  ...  and make them transferable to anthropomorphic robotic hands.  ...  experiments.  ... 
doi:10.5772/56479 fatcat:ymjuuwv2tjgttjbcc7uuvsszsa

HANDS.DVI: A Device-Independent Programming and Control Framework for Robotic Hands [chapter]

Gionata Salvietti, Guido Gioioso, Monica Malvezzi, Domenico Prattichizzo, Alessandro Serio, Edoardo Farnioli, Marco Gabiccini, Antonio Bicchi, Ioannis Sarakoglou, Nikos Tsagarakis, Darwin Caldwell
2014 Springer Tracts in Advanced Robotics  
Recent results on the organization of the human hand in grasping and manipulation are the inspiration for this experiment.  ...  Theoretical tools have been studied to design a suitable mapping function of the control action (decomposed in its elemental action) from a human hand model domain onto the articulated robotic hand co-domain  ...  This work was supported by the EU Project EC FP7-ICT-231143 ECHORD  ... 
doi:10.1007/978-3-319-03838-4_10 fatcat:25ozgs3n4faznojvdmuhhwxeje

HANDS.DVI: A DeVice-Independent Programming and Control Framework for Robotic HANDS [chapter]

Gionata Salvietti, Guido Gioioso, Monica Malvezzi, Domenico Prattichizzo, Alessandro Serio, Edoardo Farnioli, Marco Gabiccini, Antonio Bicchi, Ioannis Sarakoglou, Nikos Tsagarakis, Darwin Caldwell
2014 Springer Tracts in Advanced Robotics  
Recent results on the organization of the human hand in grasping and manipulation are the inspiration for this experiment.  ...  Theoretical tools have been studied to design a suitable mapping function of the control action (decomposed in its elemental action) from a human hand model domain onto the articulated robotic hand co-domain  ...  This work was supported by the EU Project EC FP7-ICT-231143 ECHORD  ... 
doi:10.1007/978-3-319-02934-4_10 fatcat:72fn4fet2bbdljdmfsquxsn2fu

Multi-robot Cooperation in Space: A Survey

Jürgen Leitner
2009 2009 Advanced Technologies for Enhanced Quality of Life  
The multi-robot cooperation techniques used in theoretical research as well as experiments are reviewed, and the applicability for space applications is investigated.  ...  It starts by examining definitions of, and some of the fields of research, in multi-robot systems. An overview of space applications with multiple robots and cooperating multiple robots is presented.  ...  ACKNOWLEDGEMENTS Part of this paper was done during a 3 months research stay at the Intelligent Space Systems Laboratory of the University of Tokyo, Japan sponsored by an EU grant via the SpaceMaster Global  ... 
doi:10.1109/at-equal.2009.37 fatcat:6af7gjby75e75jlaifwvcubtxu

Continuous Control of the DLR Light-Weight Robot III by a Human with Tetraplegia Using the BrainGate2 Neural Interface System [chapter]

Joern Vogel, Sami Haddadin, John D. Simeral, Sergey D. Stavisky, Daniel Bacher, Leigh R. Hochberg, John P. Donoghue, Patrick van der Smagt
2014 Springer Tracts in Advanced Robotics  
We have investigated control of the DLR Light-Weight Robot III with DLR Five-Finger Hand by a person with tetraplegia using the BrainGate2 Neural Interface System.  ...  This shall allow them to regain some independence in the handling of objects, e.g. to drink a glass of water.  ...  Robotic assistive device In our experiments we use the DLR Light-Weight Robot III (LWR-III) with the DLR Five-Finger Hand as robotic platform.  ... 
doi:10.1007/978-3-642-28572-1_9 fatcat:runsr5jwxjefdnfazukh7zlxya

Interface Design and Control Strategies for a Robot Assisted Ultrasonic Examination System [chapter]

François Conti, Jaeheung Park, Oussama Khatib
2014 Springer Tracts in Advanced Robotics  
This paper presents a new robotic system designed to assist sonographers in performing ultrasound examinations by addressing common limitations of sonography, namely the physical fatigue that can result  ...  from performing the examination, and the difficulty in interpreting ultrasound data.  ...  Brook Jeffrey from the Stanford University Medical Center for their valuable comments and suggestions during the development of this project.  ... 
doi:10.1007/978-3-642-28572-1_7 fatcat:2zp6rwh3obctxiasmckuujvea4

Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights [chapter]

Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2010 Springer Tracts in Advanced Robotics  
Based on initial impact tests we carried out with the DLR-LWRIII, several industrial robots of increasing weight were evaluated and the influence of robot mass and velocity was investigated.  ...  Industrial and domestic applications unifying the workspace of humans and robots are foreseeable in the close future and will require safe and dependable robot design and control.  ...  Acknowledgment This work has been partially funded by the European Commission's Sixth Framework Programme as part of the projects SMERobot TM under grant no. 011838 and PHRIENDS under grant no. 045359.  ... 
doi:10.1007/978-3-642-14743-2_33 fatcat:4k3yzg4g7jeuhf7vdoyje5usci
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