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Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill

Shigang Yue, Dominik Henrich
2006 Journal of Intelligent and Robotic Systems  
This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills.  ...  Experimental results showed the fuzzy based damping skill is quite effective and stable even without any previous acknowledge of the deformable linear objects.  ...  Skill-based manipulation for handling deformable linear materials has been touched upon recently, for example, [13] [14] [15] .  ... 
doi:10.1007/s10846-006-9049-1 fatcat:ie7tscgbrbdqdcou2jpp6ew2ae

Dexterous Robotic Manipulation of Deformable Objects with Multi-Sensory Feedback - a Review [chapter]

Fouad F., Pierre Payeur
2010 Robot Manipulators Trends and Development  
of a deformable linear object with regard to manipulation skills.  ...  In (Yue & Henrich, 2001) they addressed the problem of handling deformable linear objects to avoid acute vibration.  ...  , feel free to copy and paste the following: Hadithi (Ed.), ISBN: 978-953-307-073-5, InTech, Available from: http://www.intechopen.com/books/robotmanipulators-trends-and-development/dexterous-robotic-manipulation-of-deformable-objects-with-multisensory-feedback-a-review  ... 
doi:10.5772/9183 fatcat:45qccjxfjnaspesr6d4cdiusay

Objective evaluation of vowel pronunciation

Mark J. Bakkum, Reinier Plomp, Louis C. W. Pols
1991 Journal of the Acoustical Society of America  
A simple propagation model is presented, based on bottom-reflection coefficients, that indicates one should expect strict mode propagation and sharp cutoffs in a horizontally stratified environment having  ...  Even with this admittedly low vertical resolution, the velocity above the BSR is at least 2000 m/s in an approximately 200-m zone, while the predicted velocity based on the extrapolation of regional gradients  ...  Nedzelnitsky), will report on current activities of these Technical Committees.  ... 
doi:10.1121/1.2029328 fatcat:qntsmkrqkjbkpaxn35nuxutuaa

A Fuzzy PID Approach for the Vibration Control of the FSPM

Zhu-Feng Shao, Xiaoqiang Tang, Li-Ping Wang, Zheng You
2013 International Journal of Advanced Robotic Systems  
The rigid Stewart manipulator is designed to carry out the vibration control.  ...  This paper focuses on the vibration control issue of a Flexibly Supported Parallel Manipulator (FSPM), which consists of a flexible support and a rigid parallel manipulator.  ...  Fuzzy control, which enables human skills to be transferred into linguistic rules, is independent from accurate mathematical models of the controlled object [12] [13] [14] .  ... 
doi:10.5772/53278 fatcat:krqqvg6mcbcyfouiicwftt37iq

2018 Index IEEE/ASME Transactions on Mechatronics Vol. 23

2018 IEEE/ASME transactions on mechatronics  
., +, TMECH June 2018 1028-1037 Damping and Transfer Control System With Parallel Linkage Mechanism-Based Active Vibration Reducer for Omnidirectional Wheeled Robots.  ...  ., +, TMECH Feb. 2018 262-273 Damping and Transfer Control System With Parallel Linkage Mechanism-Based Active Vibration Reducer for Omnidirectional Wheeled Robots.  ... 
doi:10.1109/tmech.2019.2893551 fatcat:ds4rb6mpw5bnbbbrdn25n3oh6m

A Survey of Surgical Simulation: Applications, Technology, and Education

Alan Liu, Frank Tendick, Kevin Cleary, Christoph Kaufmann
2003 Presence - Teleoperators and Virtual Environments  
Simulators can also be used to provide an objective assessment of skills. This paper is a survey of current surgical simulator systems.  ...  They can be easily updated to account for object deformation.  ...  Skills involving both perception and motion in surgery can range from basic motor skills such as coordinated two-handed manipulations of tissue, to complex motor skills such as suturing, to skills that  ... 
doi:10.1162/105474603322955905 fatcat:zjue53ym3vcsbmuazmxysxorva

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  ...  ., +, TMECH Oct. 2020 2483-2492 Linear matrix inequalities Design of Interval Type-2 Fuzzy Controllers for Active Magnetic Bearing Systems.  ...  ., +, TMECH June 2020 1487-1498 Design of Interval Type-2 Fuzzy Controllers for Active Magnetic Bearing Systems.  ... 
doi:10.1109/tmech.2021.3049586 fatcat:k4ngjuvq7jc6pgfoh6irwtkvfi

Robotic Machining from Programming to Process Control [chapter]

Zengxi Pan, Hui Zhang
2010 Robot Manipulators New Achievements  
The sources of the stiffness of a typical robot manipulator are the compliance of its joints, actuators and other transmission elements, geometric and material properties of the links, base, and the active  ...  Fuzzy control is a very popular approach for performing the task of controller design because it is able to transfer human skills to some linguistic rules.  ...  Robot manipulators are developing more in the direction of industrial robots than of human workers.  ... 
doi:10.5772/9322 fatcat:cxsnlcwtm5acbgd742svgvmc7i

Robotic machining from programming to process control

Zengxi Pan, Hui Zhang
2008 2008 7th World Congress on Intelligent Control and Automation  
The sources of the stiffness of a typical robot manipulator are the compliance of its joints, actuators and other transmission elements, geometric and material properties of the links, base, and the active  ...  Fuzzy control is a very popular approach for performing the task of controller design because it is able to transfer human skills to some linguistic rules.  ...  /books/robot-manipulators-new-achievements/roboticmachining-from-programming-to-process-control  ... 
doi:10.1109/wcica.2008.4594434 fatcat:nzoawjtwgzajvhai6pzdl7obia

Recent Literature

2007 Fuzzy sets and systems (Print)  
Henrich, Manipulating deformable linear objects: fuzzy-based active vibration damping skill, J. Intell. Robot Systems 46 (2006) 201-219. 4.1.5. Management of large scale systems S.Y. Chen, Y.  ...  Xia, An algorithm for solving optimization problems with one linear objective function and finitely many constraints of fuzzy relation inequalities, Fuzzy Optim. Decision Making 5(1) (2006) 33-48.  ... 
doi:10.1016/j.fss.2007.01.002 fatcat:6d6kezwq2je25mb4us4ieruas4

Human Control Model Estimation in Physical Human–Machine Interaction: A Survey

Adriano Scibilia, Nicola Pedrocchi, Luigi Fortuna
2022 Sensors  
in the classical linear systems and control theory.  ...  Learning the processes and dynamics underlying human control strategies when interacting with controlled elements or objects of a different nature has been the subject of research in neuroscience, aerospace  ...  Models Classification Control Models Crossover model Skill-based Based on control theory Based on human physiology Optimal control model Structural model Descriptive model Biodynamic models Fuzzy control  ... 
doi:10.3390/s22051732 pmid:35270878 pmcid:PMC8914850 fatcat:mxcbjmaoc5gpbjdl55f7owzany

2021 Index IEEE/ASME Transactions on Mechatronics Vol. 26

2021 IEEE/ASME transactions on mechatronics  
., +, TMECH Aug. 2021 1905-1913 Vision-Based Cutting Control of Deformable Objects With Surface Tracking.  ...  ., +, TMECH Aug. 2021 2007-2015 Vision-Based Cutting Control of Deformable Objects With Surface Track-ing.  ... 
doi:10.1109/tmech.2022.3141226 fatcat:xzamfdzhofblrdegiw7iqkjffq

Haptic Augmentation Towards a Smart Learning Environment: The Haptic Lever Design

Alma Guadalupe Rodriguez Ramirez, Manuel Nandayapa, Osslan Osiris Vergara Villegas, Francesco Garcia Luna
2020 IEEE Access  
The Haptic Lever was evaluated experimentally with four dynamic models for constant (membrane), linear (Hook's law and viscous damping), and exponential (Coulomb's law) haptic augmentation.  ...  In the second and third experiment, the user can feel and interact with the linear dynamic models of Hook's law and viscous damping, in the form of a compression or tension spring by pushing or pulling  ...  As an alternative or supportive feature to vibration stimuli, skin stretch performs haptic augmentation by skin deformation.  ... 
doi:10.1109/access.2020.2990172 fatcat:ntcda6g3xjcf5ivpn3sfudwqa4

Design, Modeling and Indigenous Firmware of Patient Assistance Flexible Robotic System-Type I: Beta Version

Debanik Roy
2020 Advances in Robotics & Mechanical Engineering  
The ensemble programming logic for the robot is developed towards controlling in-built vibration in real-time.  ...  Both the fittments were skill-based and carried out manually under extreme care.  ...  The fuzzy learning-based approach for control of FRS was also reported by Moudgal et al. [8].  ... 
doi:10.32474/arme.2020.02.000140 fatcat:2silbom6pzbavisg46s5vtyldi

Final Program

2019 2019 16th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)  
Sira-Ramírez is interested in the theoretical and practical aspects of feedback regulation of nonlinear dynamic systems, with special emphasis in: Algebraic methods, Active Disturbance Rejection, Variable  ...  In this paper is exploiting the hemispherical soft tip of the finger to get skillful manipulation of a rigid circular object under the assumption that the measurement of the object angle is not available  ...  Stability analysis, based on passivity considerations, is presented without force sensing, object angle measure, not either any knowledge of the deformation nor penetration.  ... 
doi:10.1109/iceee.2019.8884545 fatcat:jm72uv7khvh3pab5bxvt7ow4xu
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