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Robots of the Lost Arc: Learning to Dynamically Manipulate Fixed-Endpoint Ropes and Cables [article]

Harry Zhang, Jeffrey Ichnowski, Daniel Seita, Jonathan Wang, Ken Goldberg
2020 arXiv   pre-print
It computes a 3D apex point for the robot arm, which, together with a task-specific trajectory function, defines an arcing motion for a manipulator arm to dynamically manipulate the cable to perform a  ...  High-speed arm motions can dynamically manipulate ropes and cables to vault over obstacles, knock objects from pedestals, and weave between obstacles.  ...  This research was performed at the AUTOLAB at UC Berkeley in affiliation with the Berkeley AI Research (BAIR) Lab, the CITRIS "People and Robots" (CPAR) Initiative, and the Real-Time Intelligent Secure  ... 
arXiv:2011.04840v1 fatcat:pgg3isg2zbcrtadsxkc6lsgbvi

Robotic manipulation and sensing of deformable objects in domestic and industrial applications: a survey

Jose Sanchez, Juan-Antonio Corrales, Belhassen-Chedli Bouzgarrou, Youcef Mezouar
2018 The international journal of robotics research  
We present a survey of recent work on robot manipulation and sensing of deformable objects, a field with relevant applications in diverse industries such as medical (e.g. surgery assistance), food handling  ...  We classify the reviewed approaches into four categories based on the type of object they manipulate.  ...  Their approach differs however, on a dynamic manipulation of the rope that relies on high-speed sensors and actuators (1 KHz).  ... 
doi:10.1177/0278364918779698 fatcat:q3nhl3uzhrdkbjss3lqo5pvwhy

Exercise Programming and Control System of the Leg Rehabilitation Robot RRH1 [chapter]

Marcin Kaczmarski, Grzegorz Granosik
2012 Lecture notes in control and information sciences  
Other examples are mentioned in the history in Sect. 53.1.3. Manipulation Aids: Fixed Base Common robots of this type are ADL and vocational manipulation aids and kitchen robots.  ...  The assistive robot service manipulator (ARM, Exact Dynamics, Netherlands) -previously known as MANUS -is a commercial robot arm that can be attached to an existing wheelchair to the side of the lap tray  ... 
doi:10.1007/978-1-4471-2343-9_34 fatcat:vxeumduqunarbfbwgffxa6mywq


Riadh Zaier, Riadh Zaier
, adaptive behavior, human-robot interaction, neuroscience and machine learning.  ...  fields of science directly or indirectly related to the development and usage of future humanoid robots.  ...  When the rotation of the rope is stable, the human stops swinging the rope and maintains the hand in a fixed position. The movement of the human hand is shown in the third plot.  ... 


Caius, Manuela Panoiu, Rob Raluca
The controlling scheme is made in LabVIEW, which permits visualisation of the both input and output of the amplifier and also gain control using parallel port.  ...  This paper presents a way to realize a programmable gain amplifier that can be software controlled using parallel port.  ...  Acknowledgement This paper was created thanks to the national grant KEGA 3/7131/09 -Laboratory of production system program control  ... 

Improving the design of upper-limb robotic prostheses using biomechanical properties and sensorimotor control principles

Konstantinos Dermitzakis
Looking at the tendon system of the human hand, we modeled the effects of tendon-pulley friction and showed that friction can be of great benefit in tendon-driven robotic systems, increasing force output  ...  Through this work, we showcased that by collectively considering functional factors for the design and development of upper-limb robotic prostheses, and by utilizing the concepts of "morphological computation  ...  Acknowledgements Acknowledgments The authors would like to thank Prof  ... 
doi:10.5167/uzh-105560 fatcat:idi5wgkgofbw5jjbdbrmkwffqe

Reiter_columbia_0054D_11184.pdf [article]

Surgical robotics has come a long way towards improving patient care and enhancing the abilities of the surgeon.  ...  controlling the surgical robot and making it smarter.  ...  The angular bins are depicted as green lines emanating from the center of the learns and adjusts on-the-fly to keep track of the tool in a typically dynamic and difficult surgical environment.  ... 
doi:10.7916/d8vh5w2h fatcat:2k4c23qoanf7vkd2qbuoo5hc34

Increasing Haptic Fidelity and Ergonomics in Teleoperated Surgery

Laura Santos Carreras
Surgeons experienced in robotic surgery have adapted to the lack of haptic feedback and learned how to rely only on vision and proprioceptive cues as compensation.  ...  The index of performance was slightly increased for a manipulation task involving orientations.  ...  Acknowledgements I would like to start by thanking my thesis supervisors. First, I would like to thank Prof.  ... 
doi:10.5075/epfl-thesis-5412 fatcat:a5ks3vwquncgjpdyos23jkyx7q

Anthropologic – Architecture and Fabrication in the cognitive age

(:Unkn) Unknown, Technische Universität Berlin, Liss C. Werner, Dietmar Koering
The cognitive and digital turn implies ubiquitous computing, artifi cial intelligence, augmented reality and material intelligence, but to mention a few.  ...  In recent years, the transition from analog to digital architecture has materialized through increasing availability of novel software and new methods in digital architecture fabrication – tooling.  ...  We gratefully acknowledge the support of the grant, and the commitment and contributions of the students.  ... 
doi:10.14279/depositonce-10569 fatcat:pws4esthdfephe3jnc62fc2ksu

Interactive topological drawing

Robert Glenn Scharein
This notion of equivalence may be thought of as the heart of knot theory. We present methods for the computer construction and interactive manipulation of a wide variety of knots.  ...  The first of these involves finding the stick-number of a knot (the fewest number of straight sticks needed to form the knot).  ...  Before considering exactly what this means, consider Figure 3 .34 where a knotted open-ended arc is shown with its endpoints sitting on the y-axis.  ... 
doi:10.14288/1.0051670 fatcat:evnbm43crrdhxltdo736wn3d6i

Reframing "belonging" and "inclusion": a journey of personal reconciliation through the process of currere

Tony Hin Tung Tsang, University, My
This study explores how complexity highlights the dynamic, nonlinear evolution of the researcher's Self-concept as a participatory agent who is reflexively connected to his context.  ...  Through the method of currere, this study seeks to weave a tale from artifacts of the researcher's life to reveal his process of becoming.  ...  As a rope that connects my Selves began to form, I then analyzed the emergent patterns and rewove them into a holistic, dynamic conceptualization of Self that exemplified the multiplicity of subjective  ... 
doi:10.25316/ir-16228 fatcat:4cnlc5paxballozkvd6ybfw4va

Informed Form Generation

Moritz Rumpf, Universität Kassel
[7] The colourful ropes were fixed with a bowline knot and turned out to be a beautiful reference to the Sail [8] taking place at the same time in the harbour of Amsterdam.  ...  To induce the concentrated loads from the suspension ropes/cables into the concrete elements, embedded steel items are used.  ...  Grant and Jean-Pierre Protzen on The State of the Art in Design Methodology: "The main purpose of design methodology seems to be to clarify the nature of the design activity and of the structure of its  ... 
doi:10.17170/kobra-202012162602 fatcat:mjrq3npm5fg5fa2hxamgmjxn2y

Stampede Theory: Mapping and Treating Dangerous Misinformation at Scale [article]

Philip Gregory Feldman, Maryland Shared Open Access Repository, Wayne ; Lutters
At scale, this can make our socio-technical ecosystem brittle and less resilient to shocks or manipulation. This dissertation explores these issues in two parts.  ...  Whenever we run a search, algorithms monitor our behavior -- if enough of us pick the second or third link, then that link will rise, and a self-reinforcing pattern of query and result is created.  ...  They provide a fixed frame that enables the calculation of relationships between static and dynamic entities within the frame.  ... 
doi:10.13016/m2z6zo-m1lc fatcat:it6nkrwunrazzcijvcvt2saity

XR Development with the Relay and Responder Pattern

Carmine Elvezio
of objects and people in the real world.  ...  As the needs of users of these systems increase and become more complex, and as the software and hardware technology improves and becomes more sophisticated, the underlying subsystems must also evolve  ...  Robotics Robotic systems, whether for navigation or manipulation, are built on intricately woven sets of interacting components.  ... 
doi:10.7916/d8-k5ve-hk48 fatcat:5ccbgy2igfallduuqb2sqz3bwi

Collaborative research: competing on a world stage [article]

Guy Marriage
I want also to acknowledge the invaluable contribution of Jiao Hong, Melanie Milicic, Angelo Bueno and Tanyalak Chalermtip for assistance with the analytical and documental work.  ...  I thank my colleagues of the School of Architecture and Planning who provided insight and expertise that greatly assisted the research.  ...  One student is responsible for manipulating, adding to and amending the model, based on the suggestions of the rest of the group.  ... 
doi:10.25455/wgtn.16606880.v1 fatcat:ubs6toiecfc57ewjg2opszrz4m
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