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Robots in human environments

O. Khatib, K. Yokoi, O. Brock, K. Chang, A. Casal
1999 Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)  
These capabilities include: integrated mobility and manipulation, cooperative skills between multiple robots, interaction ability with humans, and eficient techniques for real-time modification of collision-free  ...  To interact with humans and operate in their environments, these robots must be provided with the functionality of mobility and manipulation.  ...  Many thanks to Andreas Baader, Alan Bowling, Bob Holmberg, Francois Pin, James Slater, John Slater, Stef Sonck for their valuable contributions to the design and construction of the Stanford robotic platforms  ... 
doi:10.1109/romoco.1999.791078 fatcat:la7yjf5afvatlbra2qttwhhamm

Design of a Growing Robot Inspired by Plant Growth

Tongxi Yan, Seiichi Teshigawara, H. Harry Asada
2019 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
The robot with the rigid structure can also bear a significant load, has a plate to attach an end-effector, and can transport an object.  ...  The robot can extend its structure in multiple directions, and move through a winding space to reach a point, which is otherwise difficult to access.  ...  Furthermore, mobile robots in general are difficult to use in a practical setting, since they are unable, or find it difficult, *This work was supported by NSK Ltd. 1 The authors are with the d'Arbeloff  ... 
doi:10.1109/iros40897.2019.8968200 dblp:conf/iros/YanTA19 fatcat:bmu7l5bud5b2thlq4nvhqmyhfi

Robotic Technologies for Proton Exchange Membrane Fuel Cell Assembly [chapter]

Vladimir Gurau, Devin Fowler, Daniel Cox
2018 Proton Exchange Membrane Fuel Cell  
An emphasis of this review is on the design of tools used for robotic grasping, handling and inserting fuel cell components in the stack and on the use of design for manufacture and assembly (DFMA) strategies  ...  Along with efforts to develop technologies for high-speed manufacturing of fuel cell components, DOE identified the need for demonstrating automated assembly processes for fuel cell stacks.  ...  Acknowledgements Preparation of this chapter was made possible with funds from Georgia Southern University. Author details  ... 
doi:10.5772/intechopen.71470 fatcat:ru67ldcelrhpnjhvvjo2bzviym

Structure assembly by a heterogeneous team of robots using state estimation, generalized joints, and mobile parallel manipulators

Erik E. Komendera, Shaurav Adhikari, Samantha Glassner, Ashwin Kishen, Amy Quartaro
2017 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Autonomous robotic assembly by mobile field robots has seen significant advances in recent decades, yet practicality remains elusive.  ...  Identified challenges include better use of state estimation to and reasoning with uncertainty, spreading out tasks to specialized robots, and implementing representative joining methods.  ...  The IPJR grasped the truss using brackets to guide the struts into the capture envelope, then locked onto the struts with extended pins. The IPJR achieved mobility with assistance by the LSMS.  ... 
doi:10.1109/iros.2017.8206338 dblp:conf/iros/KomenderaAGKQ17 fatcat:upj7unxuovbglasmkojhliiwnu

Survey of Research for Performance Measurement of Mobile Manipulators

Roger Bostelman, Tsai Hong, Jeremy Marvel
2016 Journal of Research of the National Institute of Standards and Technology  
Ground truth measurement using motion tracking systems provides relatively accurate robot joint, segment, or tool point position information, enabling comparisons with the commanded pose.  ...  Lastly, the survey includes a section on research that has occurred for performance measurement of robots, mobile robots, and mobile manipulators beginning with calibration, standards, and mobile manipulator  ...  Their enormous efforts combine into the evolution of complex, yet highly useful mobile manipulator systems where performance measurements will soon provide the repeatable methods to aid system design and  ... 
doi:10.6028/jres.121.015 fatcat:xh2nmy6b55hrnazuv2qw5w7uby

Hybrid image plane/stereo (HIPS) manipulation for robotic space applications

Matthew L. Robinson, Eric T. Baumgartner, Kevin M. Nickels, Todd E. Litwin
2007 Autonomous Robots  
The HIPS method estimates and subsequently uses these models to position the manipulator at a target location specified in the image-planes of a stereo camera pair using stereo correlation and triangulation  ...  Typically such systems employ carefully calibrated stereo cameras and carefully calibrated manipulators to achieve precision on the order of ten millimeters with respect to instrument placement activities  ...  Acknowledgements The work described in this publication was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration  ... 
doi:10.1007/s10514-007-9032-0 fatcat:zldi6euehvhadgnw4or7e3wyoy

Controller Design and Implementation of a New Quadrotor Manipulation System [article]

Ahmed Khalifa
2019 arXiv   pre-print
A modified DOb loop is proposed and designed to use the direct measurements.  ...  In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the end-effector to track 6-DOF trajectory with the minimum possible number of actuators/  ...  By combining the mobility of the aerial vehicle with the versatility of a robotic manipulator, the utility of mobile manipulation can be maximized.  ... 
arXiv:1904.08498v1 fatcat:7l6a2qucbzcaxc6tvjyzqjbrii

Automation of Unloading Grain Cars Using the "Grain-o-Bot"

2013 American Society of Agricultural and Biological Engineers. Transactions  
The "Grain-o-bot" was a Cartesian robot equipped with two cameras and an opening tool as the end-effector.  ...  Correlation and pattern recognition techniques using a template image combined with shape detection were used for sprocket identification.  ...  The third three DOF with 12 suction cups was a cylindrical robot containing one rotational joint and two prismatic joints.  ... 
doi:10.13031/trans.56.10123 fatcat:64ykitb4mvdqlclgmjycy6kgfi

Opportunities for Robotic Systems and Automation in Cotton Production

Edward Barnes, Gaylon Morgan, Kater Hake, Jon Devine, Ryan Kurtz, Gregory Ibendahl, Ajay Sharda, Glen Rains, John Snider, Joe Mari Maja, J. Alex Thomasson, Yuzhen Lu (+10 others)
2021 AgriEngineering  
Specific examples include advances in automated weed control and progress made in the use of robotic systems for cotton harvesting.  ...  Automation continues to play a greater role in agricultural production with commercial systems now available for machine vision identification of weeds and other pests, autonomous weed control, and robotic  ...  Since the disk used was off the shelf and heavy, it was retrofitted with two wheels to minimize the mobile robot's force to pull the weeder.  ... 
doi:10.3390/agriengineering3020023 fatcat:pvcifsr5c5hzthehqnts6fda6y

Review of Robotic Technology for Stereotactic Neurosurgery

Carlos Faria, Wolfram Erlhagen, Manuel Rito, Elena De Momi, Giancarlo Ferrigno, Estela Bicho
2015 IEEE Reviews in Biomedical Engineering  
Some essential yet not so obvious characteristics of these systems are also described, along with future perspectives.  ...  Technological progress trend is pointing towards the development of miniaturised, cost-effective solutions with more intuitive interfaces.  ...  manipulator to handle multiple endeffectors and surgical instrumentation to execute restrained skull drilling and swift positioning of electrodes with improved precision.  ... 
doi:10.1109/rbme.2015.2428305 pmid:25955851 fatcat:6xrbq7vqkbbxhclwkpgqbfbjfq

Mechanical Design and Analysis of the End-Effector Finger Rehabilitation Robot (EFRR) for Stroke Patients

Yu Tian, Hongbo Wang, Baoshan Niu, Yongshun Zhang, Jiazheng Du, Jianye Niu, Li Sun
2021 Machines  
Most existing finger rehabilitation robots are structurally complex and cannot be adapted to multiple work conditions, such as clinical and home.  ...  In this paper, an end-effector finger rehabilitation robot (EFRR) with active A/A motion that can be applied to a variety of applications is proposed.  ...  This allows patients to open up their joint mobility fully.  ... 
doi:10.3390/machines9060110 fatcat:gkfsmoh7yvh33hlxm32dv2w2se

AR interfacing with prototype 3D applications based on user-centered interactivity

Seungjun Kim, Anind K. Dey
2010 Computer-Aided Design  
In addition, we believe that these features can be used to motivate the integration of AR technology into custom-built 3D applications.  ...  For each application, a description of the test-bed implementation, demonstration of the feasibility and usefulness and AR-specific technical challenges are included in this paper.  ...  data should be delivered by using MPEG-2 TS (Transport Stream).  ... 
doi:10.1016/j.cad.2008.10.009 fatcat:xbowr3vf4vhqxiuoz5zvoput5u

Flexible robotic device for spinal surgery

Samir Morad, Christian Ulbricht, Paul Harkin, Justin Chan, Kim Parker, Ravi Vaidyanathan
2014 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)  
A computer simulation with a full Graphical User Interface (GUI) was created and used to validate the system of inverse kinematic equations for the robot platform.  ...  Surgical robots have proliferated in recent years, with well-established benefits including: reduced patient trauma, shortened hospitalisation, and improved diagnostic accuracy and therapeutic outcome.  ...  on the base and six joints on the mobile platform) robot (Figure 86 ) [109] , or hexapod.  ... 
doi:10.1109/robio.2014.7090336 dblp:conf/robio/MoradUHCPV14 fatcat:dypi4mlbcjbmxat2qcy2pqienu

Review on Modeling and Control of Flexible Link Manipulators

Dipendra Subedi, Ilya Tyapin, Geir Hovland
2020 Modeling, Identification and Control  
The advantages and complexities associated with the FLMs are discussed briefly.  ...  A survey of the reported studies is carried out based on the method used for modeling link flexibility and obtaining equations of motion of the FLMs.  ...  between lines that connects successive joint axes of the arm is used as joint variables, pinned-pinned boundary conditions provide the necessary constraints and are good choices (Kurfess, 2018) .  ... 
doi:10.4173/mic.2020.3.2 fatcat:jscokhufqjbo7f5gaclkbykgra

Bio-Inspired Soft Grippers Based on Impactive Gripping

Liang Zhou, Lili Ren, You Chen, Shichao Niu, Zhiwu Han, Luquan Ren
2021 Advanced Science  
For example, human hands and bird feet are composed of rigid frames and soft joints.  ...  Grasping and manipulation are fundamental ways for many creatures to interact with their environments.  ...  Continuum twisting-type grippers (CTGs): A gripper with multiple bending modes. Reproduced with permission. [70] Copyright 2012, John Wiley and Sons. A wearable mobile manipulation.  ... 
doi:10.1002/advs.202002017 pmid:33977041 pmcid:PMC8097330 fatcat:ijmgj46bkza6nhc6dib5qgtryy
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